Benchmarks for Aerial Manipulation

Suárez, Alejandro; Vega, Víctor M.; Fernández, Manuel J.; Heredia, Guillermo; Ollero, A.

doi:10.1109/lra.2020.2972870

Cited by 44 publications

(37 citation statements)

References 33 publications

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“…In order to evaluate the possibility of performing manipulation operations with objects like sensor devices or small tools, it is necessary to determine the lift load capacity of the arms in the first place, applying for this purpose the benchmark test described in [27]. The experiment, illustrated in Figure 14, consists of lifting a payload mass attached at the end effector of the arms, rotating the forearm link first and then the upper arm link while the arm is fully stretched.…”

Section: Manipulation Capabilitymentioning

confidence: 99%

Winged Aerial Manipulation Robot with Dual Arm and Tail

et al. 2020

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This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.

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Section: Manipulation Capabilitymentioning

confidence: 99%

Winged Aerial Manipulation Robot with Dual Arm and Tail

et al. 2020

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“…The performance of the robotic arm (without the linear guide system) is evaluated with the benchmarks described in [37] in terms of payload capacity and trajectory accuracy, using the trajectory shown in Fig. 31 for this purpose.…”

Section: Inspection Operationmentioning

confidence: 99%

“…On the other hand, manipulator arms mounted on aerial platforms for aerial manipulation have severe design constraints coming from the aerial platform payload limitations and dynamic coupling with the movement of the arm [7] [37]. Several lightweight robotic arms with different kinematic configurations and morphologies have been designed for its integration in multirotor platforms [7] [16] [32], demonstrating the possibility to conduct tasks like object grasping [33], structure construction [34], or inspection by contact [3].…”

Section: Introductionmentioning

confidence: 99%

“…Since most aerial manipulators are intended to operate on flight, it is expected that impacts and collisions with the environment arise due to the unavoidable position deviations in the floating base, what has motivated the development of compliant manipulators [15][16] [35] [36] that integrate an elastic element in the joints or links to prevent that either the manipulator is damaged or the aerial platform is destabilized. However, this mechanical feature increases the weight and reduces the positioning accuracy at the end effector [37], complicating the realization of the inspection task.…”

Section: Introductionmentioning

confidence: 99%

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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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“…While fast computation reduces flight time in some cases, in others the benefit is marginal, especially when tasks do not require compute-intensive dynamic recalculation steps [ 6 ]. On the other hand, some UAVs may have supplementary tasks to fulfill, such as manipulation [ 29 , 30 ], with different needs, such as the capacity to accommodate other software. These diverging specifications call for a framework with a balance between flexibility and rigidity in definitions of quality and associated metrics.…”

Section: Introductionmentioning

confidence: 99%

A Method for Evaluating and Selecting Suitable Hardware for Deployment of Embedded System on UAVs

Mandel

Milford

Gonzalez

2020

Sensors

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The use of UAVs for remote sensing is increasing. In this paper, we demonstrate a method for evaluating and selecting suitable hardware to be used for deployment of algorithms for UAV-based remote sensing under considerations of Size, Weight, Power, and Computational constraints. These constraints hinder the deployment of rapidly evolving computer vision and robotics algorithms on UAVs, because they require intricate knowledge about the system and architecture to allow for effective implementation. We propose integrating computational monitoring techniques—profiling—with an industry standard specifying software quality—ISO 25000—and fusing both in a decision-making model—the analytic hierarchy process—to provide an informed decision basis for deploying embedded systems in the context of UAV-based remote sensing. One software package is combined in three software–hardware alternatives, which are profiled in hardware-in-the-loop simulations. Three objectives are used as inputs for the decision-making process. A Monte Carlo simulation provides insights into which decision-making parameters lead to which preferred alternative. Results indicate that local weights significantly influence the preference of an alternative. The approach enables relating complex parameters, leading to informed decisions about which hardware is deemed suitable for deployment in which case.

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Benchmarks for Aerial Manipulation

Cited by 44 publications

References 33 publications

Winged Aerial Manipulation Robot with Dual Arm and Tail

Winged Aerial Manipulation Robot with Dual Arm and Tail

Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays

A Method for Evaluating and Selecting Suitable Hardware for Deployment of Embedded System on UAVs

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