Flight Motion of Passing Through Small Opening by DRAGON: Transformable Multilinked Aerial Robot

Zhao, Moju; Shi, Fan; Anzai, Tomoki; Chaudhary, Krishneel; Chen, Xiangyu; Okada, Kei; Inaba, Masayuki

doi:10.1109/iros.2018.8593368

Cited by 16 publications

(7 citation statements)

References 19 publications

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“…In [115], a quadrotor-like platform with foldable arms has been proposed for simple contactless navigation purposes. For similar tasks, e.g., passing through narrows gaps, a transformable multilinked aerial robot has been presented in [116].…”

Section: ) Multirotor Morphing (M)mentioning

confidence: 99%

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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Section: ) Multirotor Morphing (M)mentioning

confidence: 99%

Past, Present, and Future of Aerial Robotic Manipulators

et al. 2022

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“…This work relates to two sets of research studies, namely in the domains of a) multilinked aerial robots, and b) aerial manipulation. With respect to the first, the DRAGON robotic system [5,6] is one of the most notable examples and is a dualrotor-embedded multilink system with the ability of multi-DoF transformation. It can control the full pose in SEp3q and through a prototype consisting of four links, it demonstrates the ability to adjust its shape to go through a narrow window.…”

Section: Related Workmentioning

confidence: 99%

“…In the domain of aerial manipulation this implies rather sensitive designs with limited worktask execution capacity or resorting to large, complex and expensive platforms. Responding to a subset of these needs, reconfigurable and multilinked systems-of-systems of aerial robots have emerged [5][6][7][8][9][10][11] including our recent contribution on the Aerial Robotic Chain (ARC) [12]. Multilinked aerial systems such as the ARC can exploit a different design space and achieve simultaneously the ability to cross narrow sections, ferry significant payloads, enable distributed sensing and processing, incorporate redundancy and more.…”

Section: Introductionmentioning

confidence: 99%

Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control

Nguyen

Alexis

2021

IEEE Robot. Autom. Lett.

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This paper presents the system design, modeling, and control of the Aerial Robotic Chain Manipulator. This new robot design offers the potential to exert strong forces and moments on the environment, carry and lift significant payloads, and simultaneously navigate through narrow corridors. We contribute a hybrid modeling framework to model the system both in Freeflight mode, where the end-effector acts as a normal pendulum, and in Aerial Manipulation mode, where the system behaves as an inverted pendulum. Respective controllers are designed for both operating modes with stability guarantees provided by Lyapunov theory. The presented experimental studies include a task of valve rotation, a pick-and-release task, and the verification of load oscillation suppression to demonstrate the stability and performance of the system.

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“…These designs however are limited to smooth, planar surfaces, hence not feasible for exploration nor search and rescue missions. For aerial maneuvers, articulated rotors have been designed to allow for controlled motions in air [28], [29]. For propulsion on rigid terrains with non-smooth surfaces, toroidal skins [30] and tank treads [31], [32] were previously presented.…”

Section: A Related Workmentioning

confidence: 99%

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

Richter¹,

Gavrilov²,

Lam³

et al. 2021

Preprint

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Exploring and navigating in extreme environments, such as caves, oceans, and planetary bodies, are often too hazardous for humans, and as such, robots are possible surrogates. These robots are met with significant locomotion challenges that require traversing a wide range of surface roughnesses and topologies. Previous locomotion strategies, involving wheels or ambulatory motion, such as snake platforms, have success on specific surfaces but fail in others which could be detrimental in exploration and navigation missions. In this paper, we present a novel approach that combines snake-like robots with an Archimedean screw locomotion mechanism to provide multiple, effective mobility strategies in a large range of environments, including those that are difficult to traverse for wheeled and ambulatory robots. This work develops a robotic system called ARCSnake to demonstrate this locomotion principle and tested it in a variety of different terrains and environments in order to prove its controllable, multi-domain, navigation capabilities. These tests show a wide breadth of scenarios that ARCSnake can handle, hence demonstrating its ability to traverse through extreme terrains.

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Flight Motion of Passing Through Small Opening by DRAGON: Transformable Multilinked Aerial Robot

Cited by 16 publications

References 19 publications

Past, Present, and Future of Aerial Robotic Manipulators

Past, Present, and Future of Aerial Robotic Manipulators

Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control

ARCSnake: Reconfigurable Snake-Like Robot with Archimedean Screw Propulsion for Multi-Domain Mobility

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