Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module

Anzai, Tomoki; Zhao, Moju; Murooka, Masaki; Shi, Fan; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros40897.2019.8967725

Cited by 26 publications

(15 citation statements)

References 15 publications

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“…It can grasp objects of different shapes properly adapting its configuration [104]. An evolution of such a vehicle used for manipulation tasks has been presented in [117] and [106].…”

Section: ) Multirotor Morphing (M)mentioning

confidence: 99%

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Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

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This article analyzes 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. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future. Index Terms-Aerial manipulation, aerial robots physically interacting with the environment, unmanned aerial vehicles. I. INTRODUCTIONT HE field of aerial robots physically interacting with the environment, and particularly aerial robotic manipulators (AEROMs), has experienced ten years of sustained growth. Diverse prototypes, functionalities and capabilities have been developed and evaluated in representative indoor and outdoor scenarios, demonstrating the possibility to successfully perform manipulation tasks while flying. The ability of aerial manipulators to quickly reach and operate in high altitude workspaces, along with the level of maturity reached in recent years, led to the application of this technology in areas like inspection and maintenance, reducing time, cost, and risk for the human workers. In this sense, this article aims at providing a broad perspective and analysis of the work done in aerial manipulation,

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“…It can grasp objects of different shapes properly adapting its configuration [104]. An evolution of such a vehicle used for manipulation tasks has been presented in [117] and [106].…”

Section: ) Multirotor Morphing (M)mentioning

confidence: 99%

“…Again the platform configuration is optimized to minimize the masscenter offset between the platform and the payload reducing steady-state hovering torque. An evolution of such a vehicle that is fully-actuated has been presented in [117].…”

Section: Interconnected Actuated Multibody Designsmentioning

confidence: 99%

Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

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“…It is necessary to check the comprehensive motion in all three axes. Therefore an extended quantity called feasible control torque convex q ( ) T (Anzai et al, 2019;Park et al, 2018) is applied to validate the rotational controllability which is given by τ τ…”

Section: Valid Transformation Rangementioning

confidence: 99%

Versatile multilinked aerial robot with tilted propellers: Design, modeling, control, and state estimation for autonomous flight and manipulation

Zhao

Anzai

Shi

et al. 2021

Journal of Field Robotics

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A multilinked structure can benefit aerial robots in terms of both maneuvering and manipulation owing to its ability of aerial transformation. A coplanar multilinked model was developed in our previous study. However, the maneuvering and manipulation performances of that model were limited owing to the weak controllability. Therefore, we adopt tilted propellers in this study to enhance controllability.The related design, modeling, and control method are developed to achieve stable hovering and transformation with tilted propellers. Further, state estimation which involves time synchronization between sensors and multilinked kinematics is also presented in this study to enable fully autonomous flight in outdoor environments.The experimental evaluation of the design, modeling, and control method is performed to verify stability during aerial transformation. While, various autonomous outdoor experiments including trajectory following, fast maneuvering for intercepting a target, object grasping for delivery, and blanket manipulation for firefighting are also performed to verify the versatility of the proposed robot platform.To the best of our knowledge, this is the first study of a multilinked aerial robot that can achieve fully autonomous flight and manipulation tasks in an outdoor environment. We also applied our platform in all challenges of the 2020 Mohammed Bin Zayed International Robotics Competition, and we ranked in the third place in Challenge 1 and in the sixth place in Challenge 3 internationally, thereby demonstrating the reliable flight performance in the fields.

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“…We found that a net force with variable direction in a three-dimensional force space is the key to overcoming the singularity. Then, [8] proposed a vectoring apparatus for propellers that can generate a lateral component force with variable direction; they also developed a prototype composed of six links embedded with this propeller apparatus to achieve flight stability in a fully-actuated manner. However, the singularity issue is not addressed in this previous work.…”

Section: Introductionmentioning

confidence: 99%

“…However, a crucial shortcoming of such an apparatus is that it cannot generate lateral force in arbitrary directions. In contrast, the apparatus proposed by [8], named a yawvectoring apparatus, has a vectoring axis perpendicular to the plane of the two-dimensional multilinked model and also has a rotor mount tilted from the vectoring axis at a fixed angle to yield the lateral component force. It is notable that, the vectoring angles cannot be easily used as a control input, because the opposite lateral component force demands the apparatus to rotate 180 • back and forth at a high rate, thereby making the flight significantly unstable.…”

Section: Introductionmentioning

confidence: 99%

Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller

Zhao

Anzai²,

Okada³

et al. 2021

Preprint

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Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1 Degrees-of-Freedom (DoF) vectorable propeller is employed in this work to overcome singular forms by properly changing the thrust direction. In this paper, we first extend modeling and control methods from our previous works for an under-actuated model whose thrust forces are not unidirectional. We then propose a planning method for the vectoring angles to solve the singularity by maximizing the controllability under arbitrary robot forms. Finally, we demonstrate the feasibility of the proposed methods by experiments where a quad-type model is used to perform trajectory tracking under challenging forms, such as a line-shape form, and the deformation passing these challenging forms.

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Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module

Cited by 26 publications

References 15 publications

Past, Present, and Future of Aerial Robotic Manipulators

Past, Present, and Future of Aerial Robotic Manipulators

Versatile multilinked aerial robot with tilted propellers: Design, modeling, control, and state estimation for autonomous flight and manipulation

Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller

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