Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

Rubiales, F Javier Garcia; Soria, Pablo Ramón; Arrue, Begoña C.; Ollero, A.

doi:10.3390/s21124142

Cited by 19 publications

(24 citation statements)

References 31 publications

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“…Work from this challenge has been mention in the following section. [Fiaz et al, 2017, Fiaz et al, 2018, Gawel et al, 2017, Sutera et al, 2020, Bahnemann et al, 2017, Spurný et al, 2019 Medium Low High Vacuum [Kessens et al, 2019, Liu et al, 2020, Kessens et al, 2016, Tsukagoshi et al, 2015 Medium Medium High Tendon [Hingston et al, 2020, Gomez-Tamm et al, 2020, Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018 Medium Medium Medium…”

Section: Aerial Graspingmentioning

confidence: 99%

“…Rigid Joints [Hingston et al, 2020, Gomez-Tamm et al, 2020, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018] Soft Joints [Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019…”

Section: Research Problem Referencesmentioning

confidence: 99%

“…Therefore, each finger is initially flexed when not actuated, then when the tensor is pulled, the finger starts extending. Alternatively, Rubiales et al present a soft-tentacle gripper which also consists of a crawling mechanism for perching [Garcia Rubiales et al, 2021]. The authors note the additional benefit of absorbing some of the impact when landing due to the rubber like thermoplastic polyurethane, as also seen in [Ramon-Soria et al, 2019].…”

Section: Soft Jointsmentioning

confidence: 99%

“…Literature in this area also overlaps with research in aerial perching [Hang et al, 2019] and aerial grasping. Many soft aerial grasping mechanisms have also been designed for soft landing gears [Garcia Rubiales et al, 2021 which has already been discussed.…”

Section: Mechanical Landing Gearmentioning

confidence: 99%

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

Saunders

Saeedi

2021

Preprint

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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.

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Section: Aerial Graspingmentioning

confidence: 99%

Section: Research Problem Referencesmentioning

confidence: 99%

Section: Soft Jointsmentioning

confidence: 99%

Section: Mechanical Landing Gearmentioning

confidence: 99%

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

Saunders

Saeedi

2021

Preprint

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“…Rapid prototyping technologies, such as additive manufacturing (AM), allow the fabrication of assembly parts of such systems [19][20][21]. Numerous studies have shown the possibilities of rapid prototyping technologies and their application [22,23].…”

Section: Introductionmentioning

confidence: 99%

Framework for Design and Additive Manufacturing of Specialised Multirotor UAV Parts

Petar¹,

Krznar²,

Krznar³

et al. 2022

Trends and Opportunities of Rapid Prototyping Technologies

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Rapid prototyping technologies have enabled a major step forward in the development of a very wide range of products, especially in the field of mechatronic systems. These technologies are largely related to additive manufacturing (AM), so-called 3D printing which is, in addition to product development, also suitable for the fabrication of mechatronic systems that are not intended for series production. In this chapter, a framework for the AM of specialised multirotor unmanned aerial vehicles (UAVs) parts is proposed and described for three AM technologies—fused deposition modelling (FDM), selective laser sintering (SLS), and stereolithography (SLA). A different approach to parts design is shown where the main problems are addressed and guidelines for parts manufacturing are given. Special emphasis is related to the mechanical characteristics and low weight of the manufactured parts that are merged with carbon fibre segments. The manufactured (printed) parts are mounted in functional assemblies and preliminarily tested.

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Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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Small unmanned aerial vehicles (UAVs) have gained significant interest in the last decade. More specifically these vehicles have the capacity to impact package delivery logistics in a disruptive way. This paper reviews research problems and state‐of‐the‐art solutions that facilitate package delivery. Different aerial manipulators and grippers are listed along with control techniques to address stability issues. Landing on a platform is next discussed which encompasses static and dynamic platforms. Landing on a dynamic platform presents further challenges. This includes delayed control responses and poor precision of the relative motion between the platform and the aerial vehicle. Subsequently, risks such as weather conditions, state estimation, and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorizes the topic into two areas: drone operations and drone–truck collaborative operations. Additionally, we compare the solutions against design, environmental, and legal constraints.

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Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

Cited by 19 publications

References 31 publications

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

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

Framework for Design and Additive Manufacturing of Specialised Multirotor UAV Parts

Autonomous aerial robotics for package delivery: A technical review

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