Controlled Manipulation with Multiple Quadrotors

Srikanth, Manohar B.; Soto, Albert; Annaswamy, Anuradha M.; Lavretsky, Eugene; Slotine, Jean‐Jacques E.

doi:10.2514/6.2011-6547

Cited by 19 publications

(21 citation statements)

References 1 publication

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“…(α (2) +α (7) )t 8 ψ 2 −2(α (4) +α (8) (4) +α (8) )t 5 ψ 2 +2(8α (1) +3α (2) −4α (5) +4α (6) −α (7) )t 4 ψ 2 + 2(4α (3) −3α (4) +α (8) (8) )t ψ 2 +α (2) +α (7) =0 (32) where the coefficients are defined as follows:…”

Section: Nonlinear Equilibria During Contactmentioning

confidence: 99%

“…The approach relies on the empirical identification of a map that relates the exerted measured wrench with the thrust and torque inputs of the used quadrotor platform. In [4] a control framework is presented that allows the one-dimensional manipulation of a cart performed by one or two quadrotors through a rigid tool. In [5] a framework for robust control of a UAV for docking-undocking operation on a vertical surface based on a path following strategy is developed and tested in simulation.…”

Section: Introductionmentioning

confidence: 99%

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Turning a near-hovering controlled quadrotor into a 3D force effector

Gioioso

Ryll

Prattichizzo

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this paper the problem of a quadrotor that physically interacts with the surrounding environment through a rigid tool is considered. We present a theoretical design that allows to exert an arbitrary 3D force by using a standard nearhovering controller that was originally developed for contactfree flight control. This is achieved by analytically solving the nonlinear system that relates the quadrotor state, the force exerted by the rigid tool on the environment, and the nearhovering controller action at the equilibrium points, during any generic contact. Stability of the equilibria for the most relevant actions (pushing, releasing, lifting, dropping, and leftright shifting) are proven by means of numerical analysis using the indirect Lyapunov method. An experimental platform, including a suitable tool design, has been developed and used to validate the theory with preliminary experiments.

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Section: Nonlinear Equilibria During Contactmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Turning a near-hovering controlled quadrotor into a 3D force effector

Gioioso

Ryll

Prattichizzo

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…A variety of research groups have put their efforts and recent contributions include interesting lightweight manipulator designs and model-free or model-based control methods such as those in Jiang and Voyles (2013), Parra-Vega et al (2013), Gioioso et al (2014), Orsag et al (2013Orsag et al ( , 2014, , Bellens et al (2012), Fumagalli et al (2014), Huber et al (2013), Mellinger et al (2011Mellinger et al ( , 2013, Marconi and Naldi (2012), Marconi et al (2011), Srikanth et al (2011, Pounds et al (2011), Papachristos and Tzes (2013), Sreenath and Kumar (2013), Montserrat Manubens et al (2013), Manubens et al (2013). Based on these and other relevant efforts, it has been shown that an aerial robot, although a floating manipulating base, has the capacity to ensure stable physical interaction and a variety of tasks including grasping or position-controlled force tracking can be conducted.…”

Section: Introductionmentioning

confidence: 99%

Aerial robotic contact-based inspection: planning and control

et al. 2015

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The challenge of aerial robotic contact-based inspection is the driving motivation of this paper. The problem is approached on both levels of control and pathplanning by introducing algorithms and control laws that ensure optimal inspection through contact and controlled aerial robotic physical interaction. Regarding the flight and physical interaction stabilization, a hybrid model predictive control framework is proposed, based on which a typical quadrotor becomes capable of stable and active interaction, accurate trajectory tracking on environmental surfaces as well as force control. Convex optimization techniques enabled the explicit computation of such a controller which accounts for the dynamics in free-flight as well as during physical interaction, ensures the global stability of the hybrid system and provides optimal responses while respecting the physical limitations of the vehicle. Further augmentation of this scheme, allowed the incorporation of a last-resort obstacle avoidance mechanism at the control level. Relying on such a control law, a contact-based inspection planner was developed which computes the optimal route within a given set of inspection points while avoiding any obstacles or other no-fly zones on the environmental surface. Extensive experimental studies that included complex "aerial-writing" tasks, interaction with non-planar and textured surfaces, execution of multiple inspection operations and obstacle avoidance maneuvers, indicate the efficiency of the proposed methods and the potential capabilities of aerial robotic inspection through contact.

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“…Practically, we can assume each UAV acting as a finger of an N-fingered hand and collaborating with the other UAVs to realize a complex and unique handsystem that is able to grasp and move an object. Some preliminary results in this promising direction have been presented in [7] and in [8]. In [7], a dynamic model for a single and double quadrotor UAV manipulating a cart on a track is derived.…”

Section: Introductionmentioning

confidence: 99%

“…Some preliminary results in this promising direction have been presented in [7] and in [8]. In [7], a dynamic model for a single and double quadrotor UAV manipulating a cart on a track is derived. In [8] a novel second order sliding mode controller is used considering a N quadrotors system grasping and manipulating an object.…”

Section: Introductionmentioning

confidence: 99%

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Gioioso

Franchi

Salvietti

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-inthe-loop simulations including the full physical model of the object, contact points and UAVs.

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Controlled Manipulation with Multiple Quadrotors

Cited by 19 publications

References 1 publication

Turning a near-hovering controlled quadrotor into a 3D force effector

Turning a near-hovering controlled quadrotor into a 3D force effector

Aerial robotic contact-based inspection: planning and control

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

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