Hexrotor UAV platform enabling dextrous interaction with structures &amp;#x2014; Preliminary work

Voyles, Richard M.; Jiang, Guangying

doi:10.1109/ssrr.2012.6523891

Cited by 33 publications

(32 citation statements)

References 22 publications

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“…Motivated by these considerations, several solutions have been proposed in the past literature spanning different concepts as, for example, tilt-wing mechanisms [22], [23], UAVs with nonparallel (but fixed) thrust directions [24], or tiltrotor actuations [25], [26]. In [27], the possibility of combining several modules of underactuated ducted-fan vehicles to achieve full 6-dof actuation for the assembled robot is theoretically explored, with a special focus on the optimal allocation of the available (redundant) control inputs.…”

mentioning

confidence: 99%

A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

Ryll

Bülthoff

Giordano

2015

IEEE Trans. Contr. Syst. Technol.

332

173

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Standard quadrotor unmanned aerial vehicles (UAVs) possess a limited mobility because of their inherent underactuation, that is, availability of four independent control inputs (the four propeller spinning velocities) versus the 6 degrees of freedom parameterizing the quadrotor position/orientation in space. Thus, the quadrotor pose cannot track arbitrary trajectories in space (e.g., it can hover on the spot only when horizontal). Because UAVs are more and more employed as service robots for interaction with the environment, this loss of mobility due to their underactuation can constitute a limiting factor. In this paper, we present a novel design for a quadrotor UAV with tilting propellers which is able to overcome these limitations. Indeed, the additional set of four control inputs actuating the propeller tilting angles is shown to yield full actuation to the quadrotor position/orientation in space, thus allowing it to behave as a fully actuated flying vehicle. We then develop a comprehensive modeling and control framework for the proposed quadrotor, and subsequently illustrate the hardware and software specifications of an experimental prototype. Finally, the results of several simulations and real experiments are reported to illustrate the capabilities of the proposed novel UAV design

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confidence: 99%

A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

Ryll

Bülthoff

Giordano

2015

IEEE Trans. Contr. Syst. Technol.

332

173

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“…In the recent years new concepts have been developed where the use of non-coplanar propellers [9], [10], [21] allows the orientation of the total thrust to deviate from its principal direction, if needed. These platforms present several manifest benefits which have been already discussed in Sec.…”

Section: A Motivations and State Of The Artmentioning

confidence: 99%

Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Franchi¹,

Carli²,

Bicego³

et al. 2018

IEEE Trans. Robot.

101

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In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve fullpose tracking. This class approximates well platforms endowed with non-coplanar/non-collinear rotors that can use the tilted propellers to slightly change the orientation of the total thrust w.r.t. the body frame. For this broad class of systems, we introduce a new geometric control strategy in SE(3) to achieve, whenever made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The exponential tracking of a feasible full-pose reference trajectory is proven using a Lyapunov technique in SE(3). The method can deal seamlessly with both under-and fully-actuated LBF platforms. The controller guarantees the tracking of at least the positional part in the case that an unfeasible full-pose reference trajectory is provided. The paper provides several experimental tests clearly showing the practicability of the approach and the sharp improvement with respect to state of-the-art approaches.

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“…Holonomic multirotors have been proposed in the past, but the literature is scarce. In [4], [5] a dexterous hexarotor has been proposed, where the holonomic kinematics is used for dexterous manipulation. However, this vehicle is designed for Earth applications, and thus a trade-off is necessary between dexterity and gravity compensation.…”

Section: Introductionmentioning

confidence: 99%

Space CoBot: Modular design of an holonomic aerial robot for indoor microgravity environments

Roque

Ventura

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with humans, such as telepresence and cooperative mobile manipulation. The design is modular, comprising an hexrotor based propulsion system, and a stack of modules including batteries, cameras for navigation, a screen for telepresence, a robotic arm, space for extension modules, and a pair of docking ports. These ports can be used for docking and for mechanically attaching two Space CoBots together. The kinematics is holonomic, and thus the translational and the rotational components can be fully decoupled. We employ a multi-criteria optimization approach to determine the best geometric configuration for maximum thrust and torque across all directions. We also tackle the problem of motion control: we use separate converging controllers for position and attitude control. Finally, we present simulation results using a realistic physics simulator. These experiments include a sensitivity evaluation to sensor noise and to unmodeled dynamics, namely a load transportation.

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Hexrotor UAV platform enabling dextrous interaction with structures — Preliminary work

Cited by 33 publications

References 22 publications

A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

A Novel Overactuated Quadrotor Unmanned Aerial Vehicle: Modeling, Control, and Experimental Validation

Full-Pose Tracking Control for Aerial Robotic Systems With Laterally Bounded Input Force

Space CoBot: Modular design of an holonomic aerial robot for indoor microgravity environments

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