Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

Yang, Hongtao; Staub, Nicolas; Franchi, Antonio; Lee, Dongjun

doi:10.1109/iros.2018.8593834

Cited by 8 publications

(8 citation statements)

References 19 publications

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“…However, the system performs only horizontal transportation. Vibration suspension is also investigated in [100,102]. Based on [103,104], the authors in [100] propose a distributed rotor-based vibration module (RVM) for the manipulation of a 2m aluminum bar.…”

Section: Flexible Payloadmentioning

confidence: 99%

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Barakou,

Tzafestas,

Valavanis

2024

Drones

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This review paper focuses on quadrotor- and multirotor-based cooperative aerial manipulation. Emphasis is first given to comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application environments. The underlying modeling and control approaches are also discussed and compared. The outcome of this review allows for understanding the motivation and rationale to develop such systems, their applicability and implementability in diverse applications and also challenges that need to be addressed and overcome. Moreover, this paper provides a guide to develop the next generation of prototype systems based on preferred characteristics, functionality, operability, and application domain.

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Section: Flexible Payloadmentioning

confidence: 99%

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Barakou,

Tzafestas,

Valavanis

2024

Drones

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“…4). This MAGMaS system was then extended in [101] with the spherical joint replaced by the OTHEX system [100] for higher and wider-angle thrust capacity with the bilateral teleoperation ability also added; and further expanded in [145], where the flexibility of the object, likely arising for long-slender or large-size/thin objects, was incorporated. The authors designed a control law for the cooperative manipulation of the flexible object while suppressing its vibration, proving its controllability as well.…”

Section: Cooperative Aerial Manipulationmentioning

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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“…[135][136][137][138] However, an AM is also expected to cooperate with ground manipulator, which is called MAGMaS (Multiple Aerial-Ground Manipulator System), and is researched by University of Toulouse 139 and Seoul National University. 140 Remark 1. The flying platforms for AM research are mainly multi-rotor UAVs.…”

Section: Motion-restricted Operationmentioning

confidence: 99%

Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

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Modeling and Control of Multiple Aerial-Ground Manipulator System (MAGMaS) with Load Flexibility

Cited by 8 publications

References 19 publications

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

Past, Present, and Future of Aerial Robotic Manipulators

Survey on Aerial Manipulator: System, Modeling, and Control

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