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

Marcellini, Salvatore; D’Angelo, Simone; De Crescenzo, Alessandro; Marolla, Michele; Lippiello, Vincenzo; Siciliano, Bruno

doi:10.1007/978-3-031-63596-0_31

Springer Proceedings in Advanced Robotics

2024

DOI: 10.1007/978-3-031-63596-0_31

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

Salvatore Marcellini,

Simone D’Angelo,

Alessandro De Crescenzo

et al.

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2024

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Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment

Orozco Soto,

Lippiello

2024

Robotics

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Delivering large horizontal controlled forces for long periods with aerial manipulators is not an easy task to accomplish; several factors including disturbances, reaction forces from the on-board arm or actuator’s limitations might diminish their horizontal force delivery capabilities. Aiming to mitigate these drawbacks, this paper presents a comprehensive study of the force delivery capabilities of aerial manipulators leveraging the environment. The methodology to evaluate the aforementioned capabilities is the Generalized-Jacobian-based force ellipsoid, which was applied to different types of both free-flying and attached-to-the-environment aerial manipulators. In addition, large controlled force delivery experiments with the mentioned manipulators were conducted on physics-engine-based robotics simulation software. The obtained results categorically demonstrate that aerial manipulators leveraging the environment are capable of delivering larger forces than their free-flying counterparts, which has not been proved in the literature so far in the field of aerial robotics.

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Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment

Orozco Soto,

Lippiello

2024

Robotics

View full text Add to dashboard Cite

show abstract

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

Cited by 1 publication

References 18 publications

Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment

Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment

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