Development of a Control Framework to Autonomously Install Clip Bird Diverters on High-Voltage Lines

D’Angelo, Simone; Pagano, Francesca; Ruggiero, Fabio; Lippiello, Vincenzo

doi:10.1109/icuas57906.2023.10156403

Cited by 6 publications

(1 citation statement)

References 14 publications

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“…Most tasks traditionally were performed by human operators, hanged from the power lines, or placed on elevators. The examples are helical bird diverters [5], clip-type diverters [32], or other types [33]. The idea of a human-inspired robotic hand is to replicate the hand of a worker to fulfill the operation as close as possible to the traditional way.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Perez-Sanchez,

Garcia-Rubiales,

Nekoo

et al. 2023

Machines

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The increasing usage of multi-rotor aerial platforms and the reliability of flights enabled researchers to add equipment and devices to them for application. The addition of lightweight manipulators, grippers, and mechanisms to fulfill specific tasks has been reported frequently recently. This work pushes the idea one step ahead and uses an Artificial Human Hand (AHH) in an uncrewed aerial vehicle for aerial manipulation, device delivery, and co-operation with human workers. This application requires an effective end-effector capable of grasping and holding objects of different shapes. The AHH is a lightweight custom-made human-inspired design actuated using Shape Memory Alloy (SMA) materials. The SMA actuators offer significantly high forces with respect to their light weights though the control of these new actuators is a challenge that has been successfully demonstrated in this paper. The control of the SMA actuators could be achieved via heat exchange on the actuator, indirectly carried out by changing the current. The benefit of using this new actuator is removing the motors and mechanical mechanisms and simplifying the design. A soft cover is developed for the AHH to add friction and make it closer to a human hand. The modeling of the structured actuators on the system through tendons is presented, and a series of experiments for handling and manipulating different objects have been conducted. The objects were chosen with different weights and shapes to show the effectiveness of the design. An analysis of a generated torque of the manipulator for different cylindrical objects has been carried out. An analysis and comparison for grasping a series of items, pressure and temperature analysis, and the weight-to-volume ratio have been presented.

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Section: Introductionmentioning

confidence: 99%

Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Perez-Sanchez,

Garcia-Rubiales,

Nekoo

et al. 2023

Machines

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Development of a Semi-autonomous Framework for NDT Inspection with a Tilting Aerial Platform

Marcellini,

D’Angelo,

De Crescenzo

et al. 2024

Springer Proceedings in Advanced Robotics

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Robotics goes PRISMA

Selvaggio,

Moccia,

Arpenti

et al. 2024

Robotica

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In this article, we review the main results achieved by the research activities carried out at PRISMA Lab of the University of Naples Federico II where, for 35 years, an interdisciplinary team of experts developed robots that are ultimately useful to humans. We summarize the key contributions made in the last decade in the six research areas of dynamic manipulation and locomotion, aerial robotics, human-robot interaction, artificial intelligence and cognitive robotics, industrial robotics, and medical robotics. After a brief overview of each research field, the most significant methodologies and results are reported and discussed, highlighting their cross-disciplinary and translational aspects. Finally, the potential future research directions identified are discussed.

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Development of a Control Framework to Autonomously Install Clip Bird Diverters on High-Voltage Lines

Cited by 6 publications

References 14 publications

Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Modeling and Application of an SMA-Actuated Lightweight Human-Inspired Gripper for Aerial Manipulation

Development of a Semi-autonomous Framework for NDT Inspection with a Tilting Aerial Platform

Robotics goes PRISMA

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