Hybrid Adaptive Control for Aerial Manipulation

Orsag, Matko; Korpela, Christopher; Bogdan, Stjepan; Oh, Paul

doi:10.1007/s10846-013-9936-1

Cited by 86 publications

(62 citation statements)

References 23 publications

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“…Another way to address the problem is by means of bio‐inspired designs manipulator arms for aerial griping . There are many works that propose a solution to manipulation tasks using a robotic arm attached to quadcopters . Some tasks require more complexity for the kind of manipulation required, in which case a common solution is to add more manipulators or more complex ones .…”

Section: Introductionmentioning

confidence: 99%

“…7,8 There are many works that propose a solution to manipulation tasks using a robotic arm attached to quadcopters. [9][10][11] Some tasks require more complexity for the kind of manipulation required, in which case a common solution is to add more manipulators 12,13 or more complex ones. [14][15][16][17] There are others that propose unique platforms designed from the ground-up with aerial manipulation in mind.…”

Section: Introductionmentioning

confidence: 99%

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Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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“…A variety of research groups have put their efforts and recent contributions include interesting lightweight manipulator designs and model-free or model-based control methods such as those in Jiang and Voyles (2013), Parra-Vega et al (2013), Gioioso et al (2014), Orsag et al (2013Orsag et al ( , 2014, , Bellens et al (2012), Fumagalli et al (2014), Huber et al (2013), Mellinger et al (2011Mellinger et al ( , 2013, Marconi and Naldi (2012), Marconi et al (2011), Srikanth et al (2011, Pounds et al (2011), Papachristos and Tzes (2013), Sreenath and Kumar (2013), Montserrat Manubens et al (2013), Manubens et al (2013). Based on these and other relevant efforts, it has been shown that an aerial robot, although a floating manipulating base, has the capacity to ensure stable physical interaction and a variety of tasks including grasping or position-controlled force tracking can be conducted.…”

Section: Introductionmentioning

confidence: 99%

Aerial robotic contact-based inspection: planning and control

et al. 2015

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The challenge of aerial robotic contact-based inspection is the driving motivation of this paper. The problem is approached on both levels of control and pathplanning by introducing algorithms and control laws that ensure optimal inspection through contact and controlled aerial robotic physical interaction. Regarding the flight and physical interaction stabilization, a hybrid model predictive control framework is proposed, based on which a typical quadrotor becomes capable of stable and active interaction, accurate trajectory tracking on environmental surfaces as well as force control. Convex optimization techniques enabled the explicit computation of such a controller which accounts for the dynamics in free-flight as well as during physical interaction, ensures the global stability of the hybrid system and provides optimal responses while respecting the physical limitations of the vehicle. Further augmentation of this scheme, allowed the incorporation of a last-resort obstacle avoidance mechanism at the control level. Relying on such a control law, a contact-based inspection planner was developed which computes the optimal route within a given set of inspection points while avoiding any obstacles or other no-fly zones on the environmental surface. Extensive experimental studies that included complex "aerial-writing" tasks, interaction with non-planar and textured surfaces, execution of multiple inspection operations and obstacle avoidance maneuvers, indicate the efficiency of the proposed methods and the potential capabilities of aerial robotic inspection through contact.

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“…a) It can rapidly capture the aerial or ground target, making sampling in environment monitoring and unmanned scientific investigation possible [1] . b) It is able to enter into complex scenarios, such as earthquake field and fire scene, to perform installation and repossession of measurement device [2] . c) Multiple aerial manipulation robots can take the initiative to fulfill cooperative transportation task of heavy load, at the same time lowering transport costs [3] .…”

mentioning

confidence: 99%

“…Yale aerial robot is composed of an unmanned helicopter and a compliant gripper [6] , which can pick up objects on the ground. Drexel Autonomous Systems Lab presents a quadrotor-manipulator vehicle called MM-UAV [2] and is used to open or close the valve in dangerous situation. Seoul National University shows an aerial robot successfully operating an unknown drawer which is a quadrotor equipped with a multi Degree-Of-Freedom (DOF) manipulator [7] .…”

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confidence: 99%

Design and implementation of rotor aerial manipulator system

Meng

et al. 2016

2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-With the development of rotor aerial robot, it has been widely used as a stabilized flying platform to achieve observation, communication relay and so on by equipping corresponding equipment, which are always called passive tasks. However, many applications need rotor aerial robots to possess more active capability, such as grasp, carry and assemblage. Thus, the demand for an aerial manipulation system gradually appears, and becomes a hot research issue in recent years. Aerial manipulator system, usually composed of rotor aerial robot and the manipulator, is a new type of robot system with active operating capability. Compared with the mobile manipulator based on the ground and underwater mobile robot which is now widely applied, the aerial manipulation has lager working range and better flexibility obviously. Unfortunately, the new aerial manipulation system also brings new challenges, such as strong dynamics coupling, the modeling and stabilization problem, etc. which may affect its further application. Thus, in our work, an actual physical aerial manipulator system is designed and implemented for its system and application research. Based on the system, the preliminary modeling and control was researched and also an experiment for grasping and carry application is conducted. The conclusions of these researches will help us to realize and improve the system in the future. I. INTRODUCTIONRotor aerial robots (RAR) have played an important role in anti-terrorist, disaster assistance, reconnaissance and surveillance for civil and military applications during past decades. They have lots of distinctive features, including low altitude flight and stable hover which are the basis of the above applications. Generally, the applications of RAR focused on some passive tasks like information collection, communication relay, etc. With the task and environment getting more and more complex, many applications need RAR to possess more active capabilities such as grasp, carry and assemblage. Especially, traditional mobile manipulators composed of manipulator and ground, underwater even space robots have been verified and successfully used in many applications. Inspired by this, rotor aerial manipulator system (RAMS) composed of a RAR and a manipulator becomes a research trend that has recently received great attention. Obviously, this combination will greatly increase

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Hybrid Adaptive Control for Aerial Manipulation

Cited by 86 publications

References 23 publications

Two PVTOLs cooperative slung‐load transport control based on passivity

Two PVTOLs cooperative slung‐load transport control based on passivity

Aerial robotic contact-based inspection: planning and control

Design and implementation of rotor aerial manipulator system

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