Aerial Manipulation: A Literature Review
Fabio Ruggiero,Vincenzo Lippiello,Anibal Ollero +2 more
- Vol. 3, Iss: 3, pp 1957-1964
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TLDR
This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view.Abstract:
Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.read more
Citations
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The current state and future outlook of rescue robotics
Jeffrey A. Delmerico,Stefano Mintchev,Alessandro Giusti,Gromov Boris A,Kamilo Melo,Tomislav Horvat,Cesar Cadena,Marco Hutter,Auke Jan Ijspeert,Dario Floreano,Luca Maria Gambardella,Roland Siegwart,Davide Scaramuzza +12 more
TL;DR: The current state of the art in ground and aerial robots, marine and amphibious systems, and human–robot control interfaces are surveyed and the readiness of these technologies with respect to the needs of first responders and disaster recovery efforts is assessed.
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A Survey on Load Transportation Using Multirotor UAVs
TL;DR: This survey highlights meaningful research works of several groups worldwide, considering two basic approaches to load transportation, namely grasped and cable-suspended load transportation.
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Past, Present, and Future of Aerial Robotic Manipulators
TL;DR: In this paper , the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment, are analyzed.
Journal ArticleDOI
Fully Actuated Multirotor UAVs: A Literature Review
TL;DR: This article collects the different UAV designs having fully actuated aerodynamic wrench generation proposed in the literature to date and includes a systematic derivation of the control-allocation matrix for all of the concepts.
Proceedings ArticleDOI
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Karen Bodie,Maximilian Brunner,Michael Pantic,Stefan Walser,Patrick Pfändler,Ueli Angst,Roland Siegwart,Juan Nieto +7 more
TL;DR: An omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection, equipped with a rigidly mounted end-effector and an impedance controller with selective apparent inertia.
References
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Flatness and defect of non-linear systems: introductory theory and examples
TL;DR: In this paper, the authors introduce flat systems, which are equivalent to linear ones via a special type of feedback called endogenous feedback, which subsumes the physical properties of a linearizing output and provides another nonlinear extension of Kalman's controllability.
Book
Robotics: Modelling, Planning and Control
TL;DR: Robotics provides the basic know-how on the foundations of robotics: modelling, planning and control, suitable for use in senior undergraduate and graduate courses in automation and computer, electrical, electronic and mechanical engineering courses with strong robotics content.
Journal ArticleDOI
Cooperative manipulation and transportation with aerial robots
TL;DR: This paper develops robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provides analysis of payload stability for these configurations.
Proceedings ArticleDOI
Backstepping Control for a Quadrotor Helicopter
T. Madani,Abdelaziz Benallegue +1 more
TL;DR: This paper presents a nonlinear dynamic model for a quadrotor helicopter in a form suited for backstepping control design, based on the Lyapunov stability theory.
BookDOI
Handbook of Unmanned Aerial Vehicles
TL;DR: The Handbook of Unmanned Aerial Vehicles is a reference text for the academic and research communities, industry, manufacturers, users, practitioners, Federal Government, Federal and State Agencies, the private sector, as well as all organizations that are and will be using unmanned aircraft in a wide spectrum of applications.
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