Multimodal Aerial Locomotion: An Approach to Active Tool Handling

Wopereis, H. W.; Ridder, Wilbert L. W. van de; Lankhorst, T.J.W.; Klooster, Lucian; Bukai, Evyatar M.; Wuthier, David; Nikolakopoulos, George; Engelen, Johannes Bernardus Charles; Fumagalli, Matteo

doi:10.1109/mra.2018.2869527

Cited by 20 publications

(10 citation statements)

References 16 publications

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“…methods to increase the capacity of the information transmission channel and the anti-noise ability [56]. To achieve a more stable motion system, Wopereis et al proposed a multimodal locomotion system [84]. The multi-modal motion system consists of three actuated omnidirectional wheels, an aerial manipulator, and a customized end effector.…”

Section: E Uav Locomotionmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

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Maintaining a clean living and working environment is an important means to ensure people's quality of life. As the height of the building increases, the traditional method of cleaning windows by human workers not only takes a long time, but also brings the risk of falling off. It is necessary to replace human workers with robots for carrying out such heavy-duty and dangerous work. Various window-cleaning robots have been applied in cleaning work for certain actual scenarios. In this paper, the state-of-the-art survey of recent developments on window-cleaning robots is presented. The applications of window-cleaning robots in two main domains of domestic use and high-rise building environments are presented and the corresponding technical requirements are summarized. Afterward, the main techniques of window-cleaning robot development including locomotion mechanisms, adhesion mechanisms, cleaning mechanisms, and sensor and controller units are reviewed in detail. The survey provides a reference for the readers to design and develop a window-cleaning robot for specific application.INDEX TERMS Window-cleaning robot, automated machine, locomotion mechanism, adhesion mechanism, cleaning mechanism, sensor and controller.

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Section: E Uav Locomotionmentioning

confidence: 99%

A Survey on Techniques and Applications of Window-Cleaning Robots

Tam

2021

IEEE Access

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“…While the platform demonstrates a high down-force, lateral and upward force exertion are limited due to the internal forces needed for omnidirectionality. Recent publications have demonstrated push-and-slide interaction and disturbance rejection, as well as various industrial applications [12,19,20,11]. Our approach combines omnidirectionality with high force and torque capabilities to eliminate the need for an actuated manipulator arm.…”

Section: Related Workmentioning

confidence: 99%

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Bodie

Brunner²,

Pantic³

et al. 2019

Robotics: Science and Systems XV

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This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6 degree of freedom force and torque, decoupling the system's translational and rotational dynamics, and enabling precise interaction with the environment while maintaining stability. An impedance controller with selective apparent inertia is formulated to permit compliance in certain degrees of freedom while achieving precise trajectory tracking and disturbance rejection in others. Experiments demonstrate disturbance rejection, pushand-slide interaction, and on-board state estimation with depth servoing to interact with local surfaces. The system is also validated as a tool for contact-based non-destructive testing of concrete infrastructure.

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“…As a result, orienting the propellers to prefer efficient hover flight and a higher payload directly reduces the capability to generate lateral force for interaction. Several fixed rotor platforms that achieve full pose omnidirectionality have been developed in recent years (Brescianini and D'Andrea, 2016;Park et al, 2018;Staub et al, 2018), while other platforms achieve omnidirectional wrench generation from a defined hover orientation (Ollero et al, 2018;Ryll et al, 2018;Wopereis et al, 2018). Other concepts have extended the theory of fixed rotor platforms (Tognon and Franchi, 2018), as interest in these systems grows.…”

Section: Introductionmentioning

confidence: 99%

Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight

Allenspach

Bodie

Brunner

et al. 2020

The International Journal of Robotics Research

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Omnidirectional micro-aerial vehicles (MAVs) are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a robust system that combines the two has not been demonstrated to date. This paper presents the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations. The system design is motivated by the result of a morphology design optimization. A six-degree-of-freedom optimal controller is derived, with an actuator allocation approach that implements task prioritization, and is robust to singularities. Flight experiments demonstrate and verify the system’s capabilities.

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Multimodal Aerial Locomotion: An Approach to Active Tool Handling

Cited by 20 publications

References 16 publications

A Survey on Techniques and Applications of Window-Cleaning Robots

A Survey on Techniques and Applications of Window-Cleaning Robots

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight

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