Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator

Bodie, Karen; Tognon, Marco; Siegwart, Roland

doi:10.1109/lra.2021.3101864

Cited by 41 publications

(29 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The proposed design can correct the CoG drift that may be caused by the movement of the manipulator or the influence of the object. Karen Bodie et al [29] proposed a new type of aerial manipulator, including an omnidirectional tilt-rotor flying base equipped with a 3-degree-of-freedom parallel manipulator. It is shown in Fig.…”

Section: Manipulatormentioning

confidence: 99%

Review of Aerial Manipulator and its Control

Wei-hong

Cao

Chun-lai

2021

IJRCS

View full text Add to dashboard Cite

The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.

show abstract

Section: Manipulatormentioning

confidence: 99%

Review of Aerial Manipulator and its Control

Wei-hong

Cao

Chun-lai

2021

IJRCS

View full text Add to dashboard Cite

show abstract

“…There have been different control algorithms employed for the control of a rigid linked aerial manipulator. 4 Figure 4: Rigid linked based omnidirectional parallel aerial manipulator [Bodie et al, 2021].…”

Section: References Force To Weight Ratiomentioning

confidence: 99%

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

View full text Add to dashboard Cite

Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore, improved control schemes and vehicle dynamics are better able to model the payload and improved perception algorithms to detect key features within the unmanned aerial vehicle's (UAV) environment. In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted. First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed. Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorises the topic into two areas: drone operations and drone-truck collaborative operations.

show abstract

“…In an effort towards enhancing manipulation capabilities of aerial robots, the problem has been addressed from different aspects, including the design of new control methods and new platforms more suited for interaction tasks. Those solutions lead to a new generation of aerial manipulators based on fully actuated, multi-, and omnidirectional thrust vehicles [2], capable to generate forces and torques in 6 degrees of freedom (DOF), and equipped with interaction tools like rigid rods [3], and articulated arms [4].…”

Section: Introductionmentioning

confidence: 99%

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects

Brunner¹,

Livio²,

Siegwart³

et al. 2022

Preprint

Self Cite

View full text Add to dashboard Cite

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work we aim at developing a control framework for Omnidirectional Micro Aerial Vehicles (OMAVs) for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment. Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator. This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment. The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances. For this scenario, we present, evaluate and discuss three different policies.

show abstract

Dynamic End Effector Tracking With an Omnidirectional Parallel Aerial Manipulator

Cited by 41 publications

References 24 publications

Review of Aerial Manipulator and its Control

Review of Aerial Manipulator and its Control

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects

Contact Info

Product

Resources

About