Aerial manipulator for structure inspection by contact from the underside

Jimenez-Cano, Antonio E.; Braga, Juan C.; Heredia, Guillermo; Ollero, A.

doi:10.1109/iros.2015.7353623

Cited by 99 publications

(68 citation statements)

References 14 publications

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“…So, the four rotors and four images will be modelled, placing three dimensional sources in the same way as the previous section. For the case of a quadrotor with four coplanar rotors with a separation d from each rotor axis to its adjacent rotor axes, the sources of the rotors and its images will be 1,5 : (0, 0, ± ), 2,6 : (0, , ± ), 3,7 : ( , 0, ± ), and 4,8 : ( , , ± ), where , +4 represents the velocity potentials of the rotor and its rotor image ( + 4). Thus, the resultant expression of the increment in thrust due to the ground effect is the following: Figure 4 shows the increment in thrust for a quadrotor due to the ground effect with a dashed line and for a single rotor with a solid line for comparison.…”

Section: Ground Effect For the Full Multirotormentioning

confidence: 99%

“…These aerial manipulators [4][5][6], as they are usually known, extend the range of possible applications of UAVs. For instance, aerial manipulators can be used for the inspection and maintenance of industrial plants and infrastructures [7], aerial power lines, and moving objects [8] and taking samples of material from areas that are difficult to access.…”

Section: Introductionmentioning

confidence: 99%

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Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Sanchez-Cuevas

Heredia

Ollero

2017

International Journal of Aerospace Engineering

119

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This paper analyzes the ground effect in multirotors, that is, the change in the thrust generated by the rotors when flying close to the ground due to the interaction of the rotor airflow with the ground surface. This effect is well known in single-rotor helicopters but has been assumed erroneously to be similar for multirotors in many cases in the literature. In this paper, the ground effect for multirotors is characterized with experimental tests in several cases and the partial ground effect, a situation in which one or some of the rotors of the multirotor (but not all) are under the ground effect, is also characterized. The influence of the different cases of ground effect in multirotor control is then studied with several control approaches in simulation and validated with experiments in a test bench and with outdoor flights.

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Section: Ground Effect For the Full Multirotormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Sanchez-Cuevas

Heredia

Ollero

2017

International Journal of Aerospace Engineering

119

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“…Therefore our group has been developing the UAV with 3‐DoF manipulator (Ikeda et al, ; Minamiyama et al, ). Jimenez‐Cano et al and Nayak et al have worked on UAVs with manipulator on their top (Jimenez‐Cano, Braga, Heredia, & Ollero, ; Nayak, Papachristos, & Alexis, ). These works aimed to contact the floor slab or wall and control the end effector position was not their purpose.…”

Section: Introductionmentioning

confidence: 99%

Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection

Ikeda

Minamiyama

Yasui

et al. 2019

Journal of Field Robotics

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This paper describes a camera position control with aerial manipulator for visual test of bridge inspection. Our developed unmanned aerial vehicle (UAV) has three-degree-offreedom (3-DoF) manipulator on its top to execute visual or hammering test of the inspection. This paper focuses on the visual test. A camera was implemented at the end of the manipulator to acquire images of the narrow space of the bridge such as bearings, which the conventional UAV without the camera-attached manipulators at its top cannot achieve the fine visual test. For the visual test, it is desirable that the camera is above the body with enough distance between the camera and the body. As obvious, the camera position in the inertial coordinate system is effected by the movement of the body.Therefore we implement the camera position control compensating the body movement into the UAV. As a result of an experiment, it is assessed that the proposed control reduces the position error of the camera comparing the one of the body. The mean position error of the camera is 0.039 m that is 51.4% of the one of the body. Our world-first study enables to acquire the image of the bearing of the bridge by a camera mounted at the end effector of aerial manipulator fixed on UAV.

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“…The proposed quadrotor helicopter can fly horizontally while maintaining a steady attitude to conduct aerial inspection with stable condition. The development of unmanned multirotor helicopters has led to expand applications, such as (i) inspecting aerial power lines for maintenance, (ii) constructing platforms with which to rescue people, and (iii) undertaking construction on inaccessible areas [3]. On the ground, walking robots are able to cross irregular ground that is impossible to wheeled and crawler robots, leading to the development of experimental dynamic walking robot [4], [5].…”

Section: Introductionmentioning

confidence: 99%

Attitude Control Simulation of a Legged Aerial Vehicle Using the Leg Motions

Higashi¹,

Chang²

2018

Adv. sci. technol. eng. syst. j.

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To gather information rapidly in disaster sites, a lot of search/rescue robots have been developed. It is difficult to correspond to the complicated environment composed of fields requiring various locomotion strategies, because most of these robots have only one type of locomotion device. To increase the available search routes under such conditions with the aim of gathering information more efficiently, we have previously proposed a legged aerial vehicle. The vehicle has tandem rotors to fly in the air and four legs to walk on the ground. The particular feature of this robot is that it has fewer actuators than the sum of those required for controlling a quadrupedal robot and a tandem-rotor helicopter individually. This paper presents modeling of the robot and development of an attitude control system that uses the leg motions. The behavior of the vehicle with the proposed attitude control is simulated using Multibody Dynamics (MBD) simulation software.

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Aerial manipulator for structure inspection by contact from the underside

Cited by 99 publications

References 14 publications

Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection

Attitude Control Simulation of a Legged Aerial Vehicle Using the Leg Motions

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