2018
DOI: 10.1177/0278364918801639
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Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation

Abstract: A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear-quadratic-integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular f… Show more

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Cited by 42 publications
(13 citation statements)
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“…This is because the position of the center of gravity, mass, geometric and pressure, could change with the shape and trajectory variations during the execution of the entire task (such as a human arm for example). So the tasks to be performed are not only those for generating contact forces but also movement, reconfigurability and dexterity [55], [58], [72] Fig. 1,2,6,8.…”
Section: B Design Considerations Of Structural Dynamicsmentioning
confidence: 99%
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“…This is because the position of the center of gravity, mass, geometric and pressure, could change with the shape and trajectory variations during the execution of the entire task (such as a human arm for example). So the tasks to be performed are not only those for generating contact forces but also movement, reconfigurability and dexterity [55], [58], [72] Fig. 1,2,6,8.…”
Section: B Design Considerations Of Structural Dynamicsmentioning
confidence: 99%
“…Assisted manipulation: in this case, the tasks of the UAVs and the tasks of the manipulation system are still a coupled type, but auxiliary engines are incorporated as elements of manipulation or force transmission Fig. 2,6,8 [72].…”
Section: F Design Considerations According To the Thruster Autonomymentioning
confidence: 99%
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“…Metamorphosis has also diversified and augmented the functionality of aerial-only robotic platforms. Aerial robotic platforms can modify their structure during flight to go through different sized apertures 49 , 50 , protect themselves from collisions 51 , 52 , or grasp objects 53 , 54 . This idea can be extended further by using adaptable and programmable structures that can be formed from origami folding or soft materials 55 66 .…”
Section: Introductionmentioning
confidence: 99%
“…For easy understanding of the dynamics, we use planar multibody dynamics (in the pitch plane) to model a squirrel. Such a 2D modeling approach has been widely applied by other researchers for other bio-inspired robotics problems, such as unmanned aerial vehicle ( Bouabdallah and Siegwart, 2007 ; Yilmaz et al, 2019 ; Zamora et al, 2020 ), and other tasks, such as trajectory tracking ( Castillo-Zamora et al, 2019 ), grasping objects ( Kobilarov, 2014 ; Zhao et al, 2018 ), and sports (table tennis) ( Shi et al, 2019 ).…”
Section: Introductionmentioning
confidence: 99%