The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Staub, Nicolas; Mohammadi, Mostafa; Bicego, Davide; Delamare, Quentin; Yang, Hongtao; Prattichizzo, Domenico; Giordano, Paolo Robuffo; Lee, Yonghan; Franchi, Antonio

doi:10.1109/mra.2018.2871344

Cited by 25 publications

(24 citation statements)

References 20 publications

(23 reference statements)

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“…The computation of the RNE provides us with the forces and torques that are applied to the UAV due to the interconnection with the manipulator. Thus, combining (7) which describes the dynamic model of the floating manipulator, with (13) that describes a UAV subject to the forces from the interconnected manipulator, can yield the model of the coupled system. Rather than relying on the recursive nature of the dynamic equations, the derived equations can be combined using a symbolic manipulation package [38], yielding a system with a 6 + n vector and its derivative (total of 2 × (6 + n) states).…”

Section: ) Modeling Of the Coupled Uav/manipulator Systemmentioning

confidence: 99%

“…In [5], a tiltrotor is used to generate a forward-pushing force to translate an obstacle. In [6], a UAV uses an elastic tool to interact with the objects positioned higher than the UAV's body, whereas in [7], a UAV cooperates with a ground robot in order to manipulate an object. In [8], the coupled model of a UAV with a manipulator is examined.…”

Section: Introductionmentioning

confidence: 99%

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Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing a cooperative manipulation task. Each UAM consists of an Unmanned Aerial Vehicle (UAV) with an attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for the interaction between the UAV and its manipulator. The overall system consists of a couple UAMs with a carrying load. The coupling between these systems is due to the exerted forces by their manipulators through the object characterized by its stiffness matrix. A leader/follower control scheme is employed with a stabilityanalysis tailored to the UAM-pair. The leader UAM defines the trajectory of the moving object while the follower acts so as to reduce the system's internal reaction forces. Simulation studies are employed to validate the controller's performance while comparing the system's response against that derived from a classical nonlinear tracking controller.

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Section: ) Modeling Of the Coupled Uav/manipulator Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Leader/Follower Force Control of Aerial Manipulators

Γκούντας

Tzes

2021

IEEE Access

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“…Lee et al [22], Robuffo Giordano et al [23], and Franchi et al [24] use a grounded haptic interface to control the fleet leader and provide haptic feedback regarding the status of the team. Similarly, Claret et al [25] and Staub et al [26] use a grounded haptic interface to control an heterogeneous robotic team composed of one drone and one robotic manipulator. In our previous work [27], we use a wearable device for the forearm to control a fleet of drones in a simulated environment.…”

Section: Related Workmentioning

confidence: 99%

Connectivity-Maintenance Teleoperation of a UAV Fleet With Wearable Haptic Feedback

Aggravi

Pacchierotti²,

Giordano³

2021

IEEE Trans. Automat. Sci. Eng.

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This paper presents the design of a decentralized connectivity-maintenance algorithm for the teleoperation of a team of multiple UAVs, together with an extensive human subject evaluation in virtual and real environments. The proposed connectivity-maintenance algorithm enhances earlier works by improving their applicability, safety, effectiveness, and ease of use, by including: (i) an airflow-avoidance behavior that avoids stack downwash phenomena in rotor-based aerial robots; (ii) a consensus-based action for enabling fast displacements with minimal topology changes by having all follower robots moving at the leader's velocity; (iii) an automatic decrease of the minimum degree of connectivity, enabling an intuitive and dynamic expansion/compression of the formation; and (iv) an automatic detection and resolution of deadlock configurations, i.e., when the robot leader cannot move due to counterbalancing connectivityand external-related inputs. We also devised and evaluated different interfaces for teleoperating the team as well as different ways of receiving information about the connectivity force acting on the leader. Results of two human subject experiments show that the proposed algorithm is effective in various situations. Moreover, using haptic feedback to provide information about the team connectivity outperforms providing both no feedback at all and sensory substitution via visual feedback. Note to Practitioners-The control of one drone is usually performed with a remote controller (similar to a joypad) that uses radio-wave signals. When controlling more than one drone, even a simple task such as moving the whole team around become very challenging. Developing an easy, yet efficient way to impart commands to a formation of drones is necessary to achieve any complex task. This work proposes a framework to control a fleet of drones (quadrotors) in an intuitive way, while receiving meaningful and effective information on the state of the formation. The proposed technique does not rely on any absolute positioning system (e.g., GPS) or centralized command center. Instead, it only uses the relative position of the drones with respect to each other, and all computations are designed in a decentralized fashion. These features make the proposed framework ready for deployment in different highimpact applications, such as in surveillance, search-and-rescue, and disaster response scenarios. Index Terms-Multi-robot systems, Human-centered robotics.

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“…In the past few years, fully actuated aerial manipulators have emerged to address these issues. Several platforms achieve full actuation by fixedly tilting the propeller groups of a traditional MAV to generate internal forces that are optimized for interaction [17,18,19,20,11]. These platforms are limited in roll and pitch, requiring additional DoFs in a manipulator arm.…”

Section: Related Workmentioning

confidence: 99%

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Bodie

Brunner²,

Pantic³

et al. 2019

Robotics: Science and Systems XV

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This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, pushand-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.

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The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Cited by 25 publications

References 20 publications

Leader/Follower Force Control of Aerial Manipulators

Leader/Follower Force Control of Aerial Manipulators

Connectivity-Maintenance Teleoperation of a UAV Fleet With Wearable Haptic Feedback

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

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