Robust Global stabilization of aerial continuum manipulation systems via hybrid feedback

Hashemi, Seyed Hamed; Janabi–Sharifi, Farrokh; Jalali, Amir

doi:10.1016/j.isatra.2023.03.021

Cited by 2 publications

(2 citation statements)

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“…The Figure 1 depicts a CAD model of a CAAMS with a TDCR. There have been notable endeavours to harness the potential of continuum manipulators for aerial manipulation tasks [31,[38][39][40][41][42][43][44][45][46][47][48]. These works are discussed under the Section 2.…”

Section: Overview Of Continuum Arm Aerial Manipulation System (Caams)mentioning

confidence: 99%

“…The modelling and control problem can be even more challenging when the CAAMS needs to have coupled dynamics operation with a multi-CM installed, which is a highly non-linear problem [42], or when tasked to perform collaborative operation between multiple CAAMSs [31]. There are various control methods of CAAMSs attempted in simulation, including vision-based control [48] for coupled dynamics system with uncertainties, hybrid feedback control [47], and PID-SMC [42]. Employing methods involving machine learning and artificial intelligence techniques may benefit to bypass complex modelling and solve challenges [42].…”

Section: Perspectives On Caams Researchmentioning

confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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