Position and Attitude Control of an Underactuated Flying Humanoid Robot

Nava, Gabriele; Fiorio, Luca; Traversaro, Silvio; Pucci, Daniele

doi:10.1109/humanoids.2018.8624985

Cited by 20 publications

(13 citation statements)

References 35 publications

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“…In the second case, snake aerial manipulators can be seen as discrete systems powered by the action of propellers and thus, they lay the preliminary notions for the study of continuous systems driven through valves and pneumatic or hydraulic fluids, leaving in this case the open problem on the efficiency between using actuators based on the motor-propeller interaction or those based on valves and flows. Concerning to flying humanoids, snake aerial manipulators can be seen as the subsystems or limbs of this kind of robots [45]- [47]. Finally, with respect to non-flying vehicles it must be indicated that extrapolations of the topics described in this text to vehicles different from aircraft can be found at [48]- [52].…”

Section: Applications and Drawbacksmentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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In this document, a review about snake aerial manipulators is presented. The most common mechatronical implications found in their design are described. The text is presented to the reader as a set of modules, this include topics about structural dynamics, aerodynamics, power and energy, propulsion, thrust-vectoring and level of autonomy of aircrafts, also highlights about use of sensors, control methods and flight schemes. INDEX TERMS Aerial manipulator, cooperative systems, UAS. I. INTRODUCTIONTo follow it is convenient to expose a brief introduction to coupled and decoupled task aerial manipulation concepts. Which are the basis of snake aerial manipulators. Both concepts are widely described in [1]-[5]. A. AERIAL MANIPULATION OF DECOUPLED AND COUPLED TASKS II. MECHANICAL CONSIDERATIONS, POWER AND AERODYNAMICS A. COMMON COMPONENTSGuiding element, base element, reference element or branching element: All these are synonymous and they are defined as a reference point from which at least 2 arms, also called kinematic chains, fork.Kinematic chain: successive union of engine elements (multicopters, individual propellers and/or motors) with elements of transmission or propagation of movement (bar linkages), by using connecting elements (joints or the motors by themselves).Engine elements: they are the multicopter aircraft or individual propellers which, in addition to allowing the hovering and flight of the whole system, produce the rotational movements necessary to transmit and propagate to more complex movements through the kinematic chains with or without the assistance of auxiliary motors. Table.2 TABLE 2. Kinds of engines for snake aerial manipulators.Elements of transmission or propagation: they are bar linkages that connect one drone to other or one propeller to other and allow the chained transmission of their rotations and translations Joint elements: the driving elements with the linkages are connected through joints. They allow the general mobility and the propagation or suppression of one or more relative movements. They could be any type of bearing, for example standard bearings, ball-joints (which particularly allows three-dimensional mobility), rigid bearings (like bronze bushings), restricted rotation bearings (that have no free rotation of yaw movement as a cardan joint or a locked ball-joint), magnetic joints, clutches (they allow a variable type connection), or even auxiliary motors by themselves according to the usage and design Damping elements: they are used to control or suppress unwanted movements such as bumps, and vibration or misalignment between the driving elements, the transmission elements and the joints. Examples are rubber shock-absorbers or flexible couplings Power elements: they allow the aircraft and the auxiliary engine elements to be energized. Examples are batteries, electrical extension cords, power cells, solar cells etc.

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Section: Applications and Drawbacksmentioning

confidence: 99%

Snake Aerial Manipulators: A Review

et al. 2020

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“…Extensions of this work concern the analysis of the trim condition for specific classes of vehicles. Another future direction is clearly the extension to the three-dimensional case, and eventually to flying multi-body robots [20], [21] that would involve more complex aerodynamics effects.…”

Section: Acknowledgmentsmentioning

confidence: 99%

“…It follows from (21) that at any time t there exists an orientation θ 0 (t) such that θ = θ 0 (t) yields α r (t) = 0, i.e. θ = θ 0 (t) = γ r (t) − π ⇒ α r (t) = 0.…”

Section: Proof Of Theorem 1 Proof Of the Item I)mentioning

confidence: 99%

On the Existence of Flight Equilibria in Longitudinal Dynamics

Pucci

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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Any control law for aircraft asymptotic stabilization requires the existence of an equilibrium condition, also called trim flight condition. At a constant velocity flight, for instance, there must exist an aircraft orientation such that aerodynamic forces oppose the plane's thrust plus weight, and the torque balance equals zero. A closer look at the equations characterizing the trim conditions point out that the existence of aircraft equilibrium configurations cannot be in general claimed beforehand. By considering aircraft longitudinal linear dynamics, this paper shows that the existence of flight trim conditions is a consequence of the vehicle shape or aerodynamics. These results are obtained independently from the aircraft flight envelope, and do not require any explicit expression of the aerodynamics acting on the vehicle.

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“…Hexapod-quadrotors, insect biobots, and humanoid robots with thrusters are examples of platforms that combine different degrees of locomotion, thus requiring advanced control and modeling methods [7], [8], [10]- [12]. In this category of platforms there is iRonCub, a prototype of flying humanoid robot currently developed at the Italian Institute of Technology [9], [14], [15], [17]. As shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

Tong¹,

Paolino²,

Nava³

et al. 2022

Preprint

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This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different operating conditions by means of Computational Fluid Dynamics (CFD) analysis. Then, analytical models of the aerodynamics coefficients are generated from the dataset collected with CFD analysis. The obtained simplified aerodynamic model is also used to improve the flying robot control design. We present two control strategies: compensating for the aerodynamic effects via feedback linearization and enforcing the controller robustness with gain-scheduling. Simulation results on the jet-powered humanoid robot iRonCub validate the proposed approach.

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Position and Attitude Control of an Underactuated Flying Humanoid Robot

Cited by 20 publications

References 35 publications

Snake Aerial Manipulators: A Review

Snake Aerial Manipulators: A Review

On the Existence of Flight Equilibria in Longitudinal Dynamics

Centroidal Aerodynamic Modeling and Control of Flying Multibody Robots

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