UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment

Salaan, Carl John; Tadakuma, Kenjiro; Okada, Yoshito; Takane, Eri; Ohno, Kazunori; Tadokoro, Satoshı

doi:10.1109/icra.2017.7989377

Cited by 21 publications

(7 citation statements)

References 13 publications

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“…93 These redundant manipulators can be found in • Dual-arm system: Most of aerial manipulation research uses only one manipulator, but dualarm AM systems are also studied by Drexel University, 11 Beijing University of Aeronautics and Astronautics, [94][95][96] University of Seville, [97][98][99] and University of Naples Federico II. 100 In addition to the aforementioned regular grippers and manipulators, some novel mechanisms are designed for special applications, which can be found in the research of Purdue University, 60,61 Drexel University, 101 University of Auckland, 102 Tohoku University, 103 Ritsumeikan University, 104 Stanford University, 105,106 and others.…”

Section: Robotic Manipulatormentioning

confidence: 99%

“…8,9,11,31,45,47,60,101,150 On the other hand, the modeling (both kinematics and dynamics) for a sole robotic manipulator can be easily derived by using Denavit-Hartenberg (DH) convention and Newton-Euler method. 35,79,82,98,103,109 Based on this decentralized analysis idea, the AM coordinate frames are often defined as shown in Fig. 7.…”

Section: Free-flight Am Researchmentioning

confidence: 99%

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Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

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Section: Robotic Manipulatormentioning

confidence: 99%

Section: Free-flight Am Researchmentioning

confidence: 99%

Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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“…In [16] a compliant finger module is added to detect soft collision and obstacle localization by measuring the deflection of the compliant element. In [17] it is presented a collision-resilient flying robot encapsulated within a protection case which enables impact absorption thanks to the material properties of the compliant surrounding structure. Similarly, in [18] a passive gimbal mounted on a protective frame transforms the linear kinetic energy of an impact into rotational while preserving the position of the UAV's centre of gravity (CoG), hence minimising the propagation of disturbances.…”

Section: Introductionmentioning

confidence: 99%

An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications

Hamaza

Georgilas

Richardson

2018

2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper presents simulation and airborne test results for a quadrotor equipped with an actively-variable compliance manipulator for contact interaction. Typical applications of this type of manipulator might include sensor placement operations and non-destructive testing. It is shown that through the use of the proposed manipulator, the force experienced at the end-effector can be adaptively controlled, and the effect of interactions on the aircraft itself minimised. Simulation and airborne results show a consistent correlation between the peak loads experienced at the end-effector and the actuator gains. A lightweight, adaptively-compliant actuator of this type offers the opportunity not only to tailor different demanded forces at the end-effector, but also to shape the loads applied-effects which can be achieved by changing only the software structure and tuning of the actuator control system.

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“…In [12] a variable-compliance aerial manipulator is used to tailor different demanded forces at the end-effector during interaction with a wall. In [13] a collision-resilient flying robot is encapsulated within a protective case which enables impact absorption thanks to the material properties. Similarly, in [14] a passive gimbal mounted on an external structure transforms the UAV linear kinetic energy generated from an impact into rotational energy of the surrounding structure, preserving the position of the UAV Centre of Gravity (CoG).…”

Section: Introductionmentioning

confidence: 99%

Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction

Hamaza

Georgilas

Richardson

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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As roles for unmanned aerial vehicles (UAVs) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptively compliant actuator which will allow a UAV to carry out such tasks as the "pick and placement" of remote sensors, structural testing and contact-based inspection. Three key results are discussed and presented; the ability to physically apply forces with the UAV through the use of an active compliant manipulator; the ability to tailor these forces through tuning of the manipulator controller gains; and the ability to apply a rapid series of physical pulses in order to excite remotely placed sensors, e.g. vibration sensors. A series of over sixty flight tests have been used to generate initial results which clearly demonstrate the potential of this new type of compliant aerial actuator.

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UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment

Cited by 21 publications

References 13 publications

Survey on Aerial Manipulator: System, Modeling, and Control

Survey on Aerial Manipulator: System, Modeling, and Control

An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications

Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction

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