The design of a tethered aerial robot

McKerrow, Phillip J; Ratner, Danny

doi:10.1109/robot.2007.363812

Cited by 19 publications

(11 citation statements)

References 10 publications

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“…A tethered aerial robot presented in (McKerrow and Ratner 2007), of which the working unit is suspended on a single cable and equipped with two ducted fan actuators. A similar but simplified concept is the Winch-Bot that is presented in (Cunningham and Asada 2009).…”

Section: Concept Of the Structural Designmentioning

confidence: 99%

Development of the Acroboter Service Robot Platform

Bencsik¹,

Zelei²,

Stépàn

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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The domestic robot platform Acroboter exploits a novel concept of ceiling based locomotion. The robot platform is designed to perform pick and place tasks as well as carry other service robots with lower mobility. The crane-like Acroboter platform extends the workspace of these robots to the whole cubic volume of the indoor environment by utilizing the almost obstacle free ceiling. We summarize the evolution of the structure of the robot, the dynamic modelling concept and the control strategy which are the results of concurrent engineering.

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Section: Concept Of the Structural Designmentioning

confidence: 99%

Development of the Acroboter Service Robot Platform

Bencsik¹,

Zelei²,

Stépàn

2016

ROMANSY 21 - Robot Design, Dynamics and Control

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“…Therefore, the design of dynamic models from space robots has been increasingly drawn into attention [2][3][4].…”

Section: Introductionmentioning

confidence: 99%

“…With regard to significance of topic of this research, to date numerous activities have been conducted at the area of optimization of UAVs via nonlinear controllers, so that there are numerous ways to control an UAVs [4,7,8]. Use of fuzzy logic regarding capabilities of this method in controlling nonlinear systems is one way to control UAVs.…”

Section: Introductionmentioning

confidence: 99%

Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles

Pazooki

Mazinan

2017

Complex Intell. Syst.

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According to the diverse applications of quadrotors in various military and space industries, this study attempts to focus on the modeling and simulation of a particular type of such robots, entitled unmanned aerial vehicles. The quadrotors are the vertical flying robots that contain four engines with impeller and it is possible to control this flyer with respect to the transitional force on these impellers. In fact, the quadrotors are the flyers with four propellers in a crisscross structure. These propellers allow the possibility of various movements to the quadrotors in such a way that control signals are applied to its operators and the difference in rotor speeds leads to the generation of different forces and movements. Such systems are dynamically unstable. Due to the nonlinear nature of quadrotor systems, modeling uncertainties and unmodeled dynamics in these systems, the need to design a suitable controller for optimal performance in different working conditions is strongly felt. In this paper, research on the modeling of unmanned flying robots in recent years is firstly reviewed and a mathematical model has been proposed for quadrotor robots with 6 degrees of freedom on the basis of the popular Newton-Euler equations. In the following, the capability of hybrid fuzzy-based sliding-mode control approach has been used to ensure the system stability. In addition, the genetic algorithm has been added to the control structure in order to optimize the proposed con-

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“…Therefore, the use of tethers has advantages in applications such as Urban Search and Rescue (USAR), reconnaissance, landmine detection, bomb disposal, planetary exploration, sewerage and under-water exploration (Fukushima et al 2000, Abel 1994, P.J. McKerrow et al 2007). Fukushima et al (2000) demonstrated that tethers can be used for climbing steep slopes (cliff-climbing) and for extracting robots when stuck in debris.…”

Section: Introductionmentioning

confidence: 99%