Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly

Patnaik, Karishma; Mishra, Shatadal; Sorkhabadi, Seyed Mostafa Rezayat; Zhang, Wenlong

doi:10.1109/iros45743.2020.9341730

Cited by 17 publications

(7 citation statements)

References 15 publications

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“…Springs can also be employed at the arm hinges to allow for bending during interaction as shown in Fig. 5d (Patnaik et al 2020). Biologically inspired quadrotors fabricated using fiberglass and magnetic joints (Mintchev et al 2017) can sustain external interactive forces such as collision impact forces, shown in Fig.…”

Section: Passive Foldable Rmsmentioning

confidence: 99%

“…For tracking controllers with adaptive system parameters, LQR with online gain updates for the adaptive morphology can be employed for low-level control (Falanga et al 2018b). Another adaptive controller is based on deriving the expressions for h( , ) and J and accordingly generates using geometric control techniques (Patnaik et al 2020). In scenarios when the folded configuration is not persistent for longer duration, open-loop ballistic motion is included in the trajectory generation to traverse gaps (Bucki and Mueller 2019).…”

Section: Llfc For Foldable Rmsmentioning

confidence: 99%

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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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Section: Passive Foldable Rmsmentioning

confidence: 99%

Section: Llfc For Foldable Rmsmentioning

confidence: 99%

Towards reconfigurable and flexible multirotors

Patnaik

Zhang

2021

Int J Intell Robot Appl

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“…Since all these works avoid physical interaction with the environment, the size of the smallest traversable gap is increased by the addition of a safety factor on top of the width of the most compact configuration achievable by the drone during flight. This limitation is overcome by the work of Patnaik et al [7], the authors present a quadrotor with passive adaptive morphology able to softly interact with the environment. During the traversal, the arms fold passively and the propeller guards rub against the surface of the passageway (Fig.…”

Section: Related Workmentioning

confidence: 99%

“…To access confined environments, drones must traverse gaps and passageways that are often smaller than their nominal size. Recent works have proposed several methods for traversing such confined spaces by combining morphing capabilities with different perception, control, and planning strategies [3], [4], [5], [6], [7]. However, aerial locomotion sets a limit to the minimum size of the gap that a drone can traverse.…”

Section: Introductionmentioning

confidence: 99%

A Soft Drone with Multi-modal Mobility for the Exploration of Confined Spaces

Fabris

Kirchgeorg

Mintchev

2021

2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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“…These quadrotors are able to transform their shapes during flight, allowing them to fly through narrow gaps or carry payloads, but they can only morph with symmetry in one degree of freedom (DoF). Other studies [5], [6], [7], [8] have achieved multirotor aircraft that can morph without symmetry during flight. These aircraft have more than four DoFs for morphing; thus, they can transform into many different shapes and configurations, endowing them with great flexibility and adaptability.…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling and Control of a Novel Morphing Quadrotor

Pei

Jia

et al. 2021

IEEE Robot. Autom. Lett.

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In this paper, the design, modeling and control of a novel morphing quadrotor are presented. The morphing quadrotor can fly stably and accurately in the air while simultaneously undergoing shape transformation, regardless of the asymmetry of the model. The four arms can rotate around hinges on the main body of the quadrotor to form various topological models. The arms are not in the same plane, so they can overlap with each other. In the extreme case, the width of the morphing quadrotor can be reduced to the diameter of a single rotor to allow the quadrotor to fly through narrow gaps more easily. Reinforcement learning (RL) with an extended-state approach is introduced in this paper to optimize the attitude control law and enable automatic adaptation to model changes. A deterministic policy gradient (DPG) algorithm based on an actor-critic structure with four neural networks in a model-free approach is used to train the controller. Finally, a linear programming method named fast simplex algorithm is presented to solve the control allocation problem of morphing quadrotors in real time with affordable computational cost in this paper. The controller has been tested on our real morphing quadrotor platform and achieves excellent flight performance.

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Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly

Cited by 17 publications

References 15 publications

Towards reconfigurable and flexible multirotors

Towards reconfigurable and flexible multirotors

A Soft Drone with Multi-modal Mobility for the Exploration of Confined Spaces

Design, Modeling and Control of a Novel Morphing Quadrotor

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