Lightweight and human-size dual arm aerial manipulator

Suárez, Alejandro; Jimenez-Cano, Antonio E.; Vega, Víctor M.; Heredia, Guillermo; Rodriguez-Castaño, Angel; Ollero, A.

doi:10.1109/icuas.2017.7991357

Cited by 44 publications

(38 citation statements)

References 21 publications

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“…s.t. C1a, C1b, C3-C11, C15, C16a, C16b, C16e, C17, C18, Absorption coefficient of cloud and area of the solar panel, βc and S 0.01 [13] and 1m Profile drag coefficient CD0 0.08 [31] Static power consumption and maximum acceleration of UAV, Pstatic and amax 5 W and 2m/s 2 [10], [31] Initial and minimum required remaining stored energy, q0 and q end 111 Wh and 55 Wh [10] Capacity of the on-board battery, qmax 222 Wh [39] Error tolerances ǫ1, ǫ2, and ǫ3 for Algorithms 1, 2, and 3 0.01…”

Section: Suboptimal Solutionmentioning

confidence: 99%

Optimal 3D-Trajectory Design and Resource Allocation for Solar-Powered UAV Communication Systems

Sun

et al. 2019

IEEE Trans. Commun.

395

214

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In this paper, we investigate the resource allocation algorithm design for multicarrier solar-powered unmanned aerial vehicle (UAV) communication systems. In particular, the UAV is powered by solar energy enabling sustainable communication services to multiple ground users. We study the joint design of the three-dimensional (3D) aerial trajectory and the wireless resource allocation for maximization of the system sum throughput over a given time period. As a performance benchmark, we first consider an offline resource allocation design assuming non-causal knowledge of the channel gains. The algorithm design is formulated as a mixed-integer non-convex optimization problem taking into account the aerodynamic power consumption, solar energy harvesting, a finite energy storage capacity, and the quality-of-service (QoS) requirements of the users. Despite the non-convexity of the optimization problem, we solve it optimally by applying monotonic optimization to obtain the optimal 3D-trajectory and the optimal power and subcarrier allocation policy. Subsequently, we focus on online algorithm design which only requires real-time and statistical knowledge of the channel gains. The optimal online resource allocation algorithm is motivated by the offline scheme and entails a high computational complexity. Hence, we also propose a low-complexity iterative suboptimal online scheme based on successive convex approximation. Our simulation results reveal that both proposed online schemes closely approach the performance of the benchmark offline scheme and substantially outperform two baseline schemes. Furthermore, our results unveil the tradeoff between solar energy harvesting and power-efficient communication. In particular, the solar-powered UAV first climbs up to a high altitude to harvest a sufficient amount of solar energy and then descents again to a lower altitude to reduce the path loss of the communication links to the users it serves.

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Section: Suboptimal Solutionmentioning

confidence: 99%

Optimal 3D-Trajectory Design and Resource Allocation for Solar-Powered UAV Communication Systems

Sun

et al. 2019

IEEE Trans. Commun.

395

214

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“…In [6], the cable-suspended aerial manipulator is developed for safe aerial manipulation in a complex environment. A. Suarez et al [7] developed the flying robot with the variable parameter integral backstepping controller for industrial maintenance. Japanese company PRODRONE demonstrated multirotor with two manipulators, which can lift objects from the ground and land on the railing by using two manipulators [8].…”

Section: Introductionmentioning

confidence: 99%

AeroVr: Virtual Reality-based Teleoperation with Tactile Feedback for Aerial Manipulation

Yashin

Trinitatova

Agishev

et al. 2019

2019 19th International Conference on Advanced Robotics (ICAR)

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Drone application for aerial manipulation is tested in such areas as industrial maintenance, supporting the rescuers in emergencies, and e-commerce. Most of such applications require teleoperation. The operator receives visual feedback from the camera installed on a robot arm or drone. As aerial manipulation requires delicate and precise motion of robot arm, the camera data delay, narrow field of view, and blurred image caused by drone dynamics can lead the UAV to crash. The paper focuses on the development of a novel teleoperation system for aerial manipulation using Virtual Reality (VR). The controlled system consists of UAV with a 4-DoF robotic arm and embedded sensors. VR application presents the digital twin of drone and remote environment to the user through a headmounted display (HMD). The operator controls the position of the robotic arm and gripper with VR trackers worn on the arm and tracking glove with vibrotactile feedback. Control data is translated directly from VR to the real robot in realtime. The experimental results showed a stable and robust teleoperation mediated by the VR scene. The proposed system can considerably improve the quality of aerial manipulations.

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“…Research effort on AM studies aerial vehicles equipped with one or more robotic arms, allowing to describe those systems as Aerial Robots (ARs). This research line has been particularly fostered by European projects like ARCAS, AeroArms, and AeroWorks 1 , leading to results in mechanical design of new aerial platforms [1], [2], control analysis [3], [4] visual perception for AM [5], [6], and planning [7], [8]. The literature also encompasses the use of VTOLs to transport loads and interact by means of cables, see [9]- [11] and references therein.…”

Section: Introductionmentioning

confidence: 99%

“…As an illustration of such tasks, one can think about gutters and pipes installation, cropping fruits or trimming trees using a pole saw. Therefore it is worth to focus the efforts on an approach where the load 1 LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France, antonio.franchi@laas.fr 2 ESIME-UA, National Polytechnic Institute, Mexico City, Mexico † Both authors contributed equally to this work. This work has been funded by the European Union's Horizon 2020 research and innovation programme under grant agreement No 644271 AEROARMS.…”

Section: Introductionmentioning

confidence: 99%

Towards a Flying Assistant Paradigm: the OTHex

Staub

Bicego

Sablé

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.

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Lightweight and human-size dual arm aerial manipulator

Cited by 44 publications

References 21 publications

Optimal 3D-Trajectory Design and Resource Allocation for Solar-Powered UAV Communication Systems

Optimal 3D-Trajectory Design and Resource Allocation for Solar-Powered UAV Communication Systems

AeroVr: Virtual Reality-based Teleoperation with Tactile Feedback for Aerial Manipulation

Towards a Flying Assistant Paradigm: the OTHex

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