Aerial torsional manipulation employing multi-rotor flying robot

Shimahara, Syohei; Suphachart, Leewiwatwong; Ladig, Robert; Shimonomura, Kazuhiro

doi:10.1109/iros.2016.7759258

Cited by 34 publications

(33 citation statements)

References 13 publications

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“…conducted periodically over extensive pipe structures [7]. Other potential applications are the inspection of power lines [8], the cleaning of the blades of wind turbines [9], replacing light bulbs on large buildings [10], or the realization of tasks with tools [11].…”

Section: Introduction a Aerial Manipulationmentioning

confidence: 99%

“…As result, there is a significant number of morphologies and kinematic configurations of aerial robots, including manipulators with a single degree of freedom (DOF) [17], [18], robotic arms with several joints [2], [3], [12], [13], dual arm systems [15], [16], [19], [20], long reach aerial manipulators [21], [22], parallel manipulators [23], [24], or even the multirotor body may become the manipulator itself [25]. Some works propose the integration of grippers [26] or tools for conducting particular tasks like tree pruning [27], tree cavity inspection [24], or object grasping [10], [11].…”

Section: Introduction a Aerial Manipulationmentioning

confidence: 99%

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Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

et al. 2020

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The ability of aerial manipulation robots to reach and operate in high altitude workspaces may result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by human operators. Consider for example the installation of sensors in polluted areas, the insulation of leaks in pipe structures, or the corrosion repair in power lines and wind turbines. This paper describes the application of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants, involving the installation and retrieval of sensor devices. The goal is to reduce the time, cost, and risk with respect to conventional solutions conducted by human workers. Two configurations of the aerial robot are considered and compared: the standard, in which the arms are installed at the base of the multirotor, and the long reach configuration in passive pendulum, which extends the effective workspace of the manipulator and increases safety during the operation on flight. The kinematic and dynamic models of both configurations are derived, proposing a unified notation for the equations of motion, and a force/position control scheme that relies on the servo controller and the mechanical joint compliance. The paper also describes a simulation framework used for validating the execution of the aerial manipulation task before the realization of the real experiments, which contributes to reducing the probability of failure. The potential application of the standard and long reach configurations is evaluated in two sensor installation tasks carried out in an indoor testbed.

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Section: Introduction a Aerial Manipulationmentioning

confidence: 99%

Section: Introduction a Aerial Manipulationmentioning

confidence: 99%

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

et al. 2020

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“…However, in recent years, the appearance of robotic aerial manipulation has widened the application range of these UAVs. Aerial manipulators [ 3 , 4 ] are aerial robots with arms or mechanical devices which are able to physically interact with the environment, performing tasks as object manipulation [ 5 , 6 ], operating devices [ 7 , 8 ], surface repairing [ 9 ], and taking measurements with sensors in contact with surfaces [ 10 ].…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, the aerial robot in [ 25 ] and most aerial manipulators [ 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 ] use standard multirotor configurations with 4, 6, or 8 co-planar propellers. They are, therefore, under-actuated robots that need to tilt to move or apply forces in the horizontal plane.…”

Section: Introductionmentioning

confidence: 99%

Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Sanchez-Cuevas

González-Morgado

Cortes

et al. 2020

Sensors

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This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can measure the contact force to regulate the force applied with the sensor on the structure. The aerial platform has been designed with tilted propellers to be fully actuated, achieving independent attitude and position control. It also mounts a “docking gear” to establish full contact with the infrastructure during the inspection, minimizing the measurement errors derived from the motion of the aerial platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...). The localization system of the aerial robot uses multi-sensor fusion of the measurements of a topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals are not available. The paper also presents the modeling and control of the aerial robot. Validation experiments of the localization system and the control system, and with the aerial robot inspecting a real bridge are also included.

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“…The application of aerial manipulation robots to inspection and maintenance operations [1] in industrial scenarios like oil and gas refineries [2] [3], wind turbines [4], or bridges [5] [6] is motivated by the convenience to reduce the required time and cost with respect to conventional solutions carried out nowadays by human operators deployed on cranes and other infrastructures. The ability of multirotors [7] [8] and autonomous helicopters [9][10] to reach quickly and easily high altitude workspaces [11] [12] [13] can be useful in the installation [14] [15] and retrieval [14] [16] of sensors devices in polluted areas, transportation operations [17], inspection by contact [18] [19], crack repair [20], valve turning [21] and other torsional manipulation tasks [22], or in those tasks requiring the use of tools [23].…”

Section: Introductionmentioning

confidence: 99%

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

Suárez¹,

Caballero²,

Garofano³

et al. 2020

IEEE Access

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This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks. The robot consists of a hexarotor platform integrating a rolling base with velocity and direction control, and a 5-DOF (degree of freedom) robotic arm supported by a 1-DOF linear guide system that facilitates the deployment of the arm in the array of pipes to inspect their contour once the platform has landed. Given a set of points to be inspected in different arrays of pipes, the path of the multirotor and the rolling platform is planned with a hybrid RRT* (Rapidlyexploring Random Tree) based algorithm that minimizes the energy consumption. The performance of the system is evaluated in an illustrative outdoor scenario with two arrays of pipes, using a laser tracking system to measure the position of the robot from the ground control station.

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Aerial torsional manipulation employing multi-rotor flying robot

Cited by 34 publications

References 13 publications

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

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