Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation

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...

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Bibliographic Details
Published in:The International journal of robotics research 2018-08, Vol.37 (9), p.1085-1112
Main Authors: Zhao, Moju, Kawasaki, Koji, Anzai, Tomoki, Chen, Xiangyu, Noda, Shintaro, Shi, Fan, Okada, Kei, Inaba, Masayuki
Format: Article
Language:English
Subjects:
Communications systems
Flight control
Grasping (robotics)
Hovering
Modular structures
Motion stability
Optimal control
Optimization
Thrust
Transformations
Two dimensional models
Yaw
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Summary: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 form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects.
ISSN:0278-3649
1741-3176
DOI:10.1177/0278364918801639