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
TLDR
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.Abstract:
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, push-and-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.read more
Citations
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Journal ArticleDOI
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
Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle
Karen Bodie,Maximilian Brunner,Michael Pantic,Stefan Walser,Patrick Pfändler,Ueli Angst,Roland Siegwart,Juan Nieto +7 more
TL;DR: A variable axis-selective impedance control is presented which integrates direct force control for intentional interaction, using feedback from an on-board force sensor, and is validated as a tool for nondestructive testing of concrete infrastructure.
Journal ArticleDOI
Inspection-while-flying: An autonomous contact-based nondestructive test using UAV-tools
TL;DR: An optimization algorithm consisting of nonlinear moving horizon estimation (NMHE), which is a part of non linear model predictive control (NMPC) is proposed, in which the baseline model of the UAV is augmented by the external forces where uncertainties, modeling mismatches and disturbances are lumped.
Proceedings ArticleDOI
Visual-Inertial Telepresence for Aerial Manipulation
Jongseok Lee,Ribin Balachandran,Yuri S. Sarkisov,Marco De Stefano,Andre Coelho,Kashmira Shinde,Min Jun Kim,Rudolph Triebel,Konstantin Kondak +8 more
TL;DR: Both indoor and outdoor experiments show benefits of the proposed telepresence system in achieving advanced aerial manipulation tasks, namely grasping, placing, force exertion and peg-in-hole insertion.
Journal ArticleDOI
Aerial Manipulator Pushing a Movable Structure Using a DOB-Based Robust Controller
TL;DR: This letter presents a nonlinear disturbance-observer (DOB)-based robust control approach by regarding the interaction force as a disturbance to the system and proposes an algorithm to generate an end-effector position reference that enables safe operation in a realistic situation.
References
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