Modeling and control of a new aerial manipulation system of a Hybrid Ground Aerial Robot

Saeed, Maha; Fanni, Mohamed; Mohamed, Abdelfatah M.

doi:10.1109/icit.2018.8352182

Cited by 3 publications

(1 citation statement)

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“…In [12], a hexarotor UAV is equipped with a crawler and roller for locomotion on pipes while inspecting the pipes by a 3-DoF arm, but the heavy driving mechanisms compromise the aerial efficiency. In [13], [14], a HAGM design is proposed with two active wheels and two passive wheels but no physical robot is built. Chat-PM [15] combines a dual-passive-wheel HAGV [16] with a lightweight 4-DoF arm to achieve the state-of-theart operation accuracy.…”

Section: Introductionmentioning

confidence: 99%

System identification and control of the ground operation mode of a hybrid aerial–ground robot

Cao,

Xu,

Cao

et al. 2023

Control Theory Technol.

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Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab leverages a single point of contact with the ground to reduce position drift and improve manipulation accuracy. The single active wheel enables locomotion on narrow surfaces without adding significant weight to the robot. To realize accurate attitude maintenance using propellers on the ground, we design a control allocation method for AirCrab that prioritizes attitude control and dynamically adjusts the thrust input to reduce energy consumption. Experiments verify the effectiveness of the proposed control method and the gain in manipulation accuracy with ground contact. A series of operations to complete the letters 'NTU' demonstrates the capability of the robot to perform challenging hybrid aerialground manipulation missions. SUPPLEMENTARY MATERIALA video summarizing the approach and experiments is available at https://youtu.be/Q1n-IiIt400.

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