Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Bouman, Amanda; Nadan, Paul; Anderson, Matthew; Pastor, Daniel; Izraelevitz, Jacob; Burdick, Joel W.; Kennedy, Brett

doi:10.1109/icra40945.2020.9197542

Cited by 18 publications

(18 citation statements)

References 8 publications

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“…Several robotic hands have been developed by modifying existing underactuated designs in different ways to achieve translation and rotation of objects (Bouman et al, 2020;Morino et al, 2020). The GR2 gripper (Rojas et al, 2016) is a two-fingered hand that introduces an elastic pivot joint between the fingers to enlarge the range of planar reorientation.…”

Section: Add-on Designs For Increasing Dexterity Of Simple Grippersmentioning

confidence: 99%

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Baron

Clark

et al. 2021

The International Journal of Robotics Research

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We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers, jointly controlled by a single actuator, connected to the mobile revolute joints of the palm. Three actuators are used in the robot hand system in total, one for controlling the force exerted on objects by the fingers through an underactuated tendon system, and two for changing the configuration of the palm and, thus, the positioning of the fingers. This novel layout allows decoupling grasping and manipulation, facilitating the planning and execution of in-hand manipulation operations. The reconfigurable palm provides the hand with a large grasping versatility, and allows easy computation of a map between task space and joint space for manipulation based on distance-based linkage kinematics. The motion of objects of different sizes and shapes from one pose to another is then straightforward and systematic, provided the objects are kept grasped. This is guaranteed independently and passively by the underactuated fingers using a custom tendon routing method, which allows no tendon length variation when the relative finger base positions change with palm reconfigurations. We analyze the theoretical grasping workspace and grasping and manipulation capability of the hand, present algorithms for computing the manipulation map and in-hand manipulation planning, and evaluate all these experimentally. Numerical and empirical results of several manipulation trajectories with objects of different size and shape clearly demonstrate the viability of the proposed concept.

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Section: Add-on Designs For Increasing Dexterity Of Simple Grippersmentioning

confidence: 99%

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Baron

Clark

et al. 2021

The International Journal of Robotics Research

View full text Add to dashboard Cite

show abstract

“…Ballistically deployable foldable RMs such as the one shown in Fig. 5b with passive, spring-loaded hinges at the rotor arms can successfully transition from the launch configuration to a fully controllable flight, opening up possibilities to investigate such launching approaches for MAVs in a variety of environments (Pastor et al 2019;Bouman et al 2020).…”

Section: Passive Foldable Rmsmentioning

confidence: 99%

“…In such scenarios, modeling and parameter uncertainties for other interaction tasks such as pulling objects by a tiltrotor RM significantly influence the tracking performance. In this context, robust control methods such as robust model reference controller have been successfully demonstrated that guarantee robustness not only to parametric and matched uncertainties, but also to unmatched uncertainties (Anderson et al 2020). The performance can further be improved by employing disturbance observers with sliding mode control (SMC) techniques where the output of the observer can be…”

Section: Llfc For Tiltrotor Rmsmentioning

confidence: 99%

Towards reconfigurable and flexible multirotors

Patnaik

Zhang

2021

Int J Intell Robot Appl

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Reconfigurable multirotors (RMs) with flexible frames and integrated mechanical compliance are increasingly explored to develop multifunctional aerial robots with high power-to-weight ratios. In this paper, we review the state-of-the-art research on RMs and classify them into three broad categories as tiltrotors, multimodal and foldable RMs. The RMs with the ability to arbitrarily orient their thrust by employing tilting rotors are classified as tiltrotors, the multirotors with multi modal locomotion capabilities by transforming the chassis into land/water propulsion systems are classified as multimodal RMs, and those which can alter the size of the chassis are labelled as foldable RMs. Existing platforms are analyzed from three different perspectives-mechanical design, challenges of low-level control and high level motion planning techniques. Finally, we identify the critical parameters for design optimization, and discuss the issues associated with developing a common control and motion planning algorithm that can leverage any RM's features to demonstrate successful autonomous missions.in body frame i i th Rotor's spin velocity N ∈ ℝ n Vector of squared rotor spin velocities k i ∈ ℝ Constant to calculate torque generated by ith motor ∈ ℝ Event trigger i ∈ 1 i th Rotor tilt angle i ∈ 1 i th Arm folding angle A ∈ ℝ 3×3 Control allocation matrix A g ∈ ℝ 3×3 Control allocation matrix in ground mode Abbreviations LLFC Low-level flight controller HLMP High-level motion plannning MoCap Indoor motion capture system * Karishma Patnaik

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“…Several aerial vehicles capable of changing shape have been previously developed. For example, in [1] a vehicle capable of automatically unfolding after being launched from tube is presented, and in [2] a vehicle is presented which uses foldable origami-style arms to automatically increase its wingspan…”

Section: A Related Workmentioning

confidence: 99%

Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges

Bucki¹,

Tang²,

Mueller³

2021

Preprint

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This paper presents the design and control of a novel quadcopter capable of changing shape mid-flight, allowing for operation in four configurations with the capability of sustained hover in three. The normally rigid connections between the arms of the quadcopter and the central body are replaced by free-rotating hinges that allow the arms to fold downward; no additional actuators beyond the four motors that drive the propellers are used. Configuration transitions are accomplished by either reducing or reversing the thrust forces produced by specific propellers during flight. Constraints placed on the control inputs of the vehicle prevent the arms from folding or unfolding unexpectedly, allowing for the use of existing quadcopter controllers and trajectory generation algorithms. For our experimental vehicle at hover, we find that these constraints result in a 36% reduction of the maximum yaw torque the vehicle can produce, but do not result in a reduction of the maximum thrust or roll and pitch torques. Furthermore, the ability to change configurations is shown to enable the vehicle to traverse small passages, perch on hanging wires, and perform simple grasping tasks.

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Design and Autonomous Stabilization of a Ballistically-Launched Multirotor

Cited by 18 publications

References 8 publications

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper

Towards reconfigurable and flexible multirotors

Design and Control of a Midair-Reconfigurable Quadcopter using Unactuated Hinges

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