This video shows a special prototype of miniature aerial robot, the aerial manipulator, able to accomplish operations requiring the physical interaction with the surrounding environment while remaining completely airborne. The robot arises from the combination of a vertical take-off and landing aircraft, in particular a ducted-fan configuration, and a miniature robotic arm. The physical interaction relies on impedance control considerations. The control law is able to govern all the degrees of freedom of the system both in free-flight and during the interaction with the surrounding environment. In the latter case, the stability of the contact is robustly preserved. The video shows the robotic setup and the effectiveness of the proposed control algorithm in a real-world scenario.

A. Torre, D. Mengoli, R. Naldi, F. Forte, A. Macchelli, L. Marconi (2012). A prototype of aerial manipulator [10.1109/IROS.2012.6386279].

A prototype of aerial manipulator

TORRE, ALESSIO;D. Mengoli;NALDI, ROBERTO;FORTE, FRANCESCO;MACCHELLI, ALESSANDRO;MARCONI, LORENZO
2012

Abstract

This video shows a special prototype of miniature aerial robot, the aerial manipulator, able to accomplish operations requiring the physical interaction with the surrounding environment while remaining completely airborne. The robot arises from the combination of a vertical take-off and landing aircraft, in particular a ducted-fan configuration, and a miniature robotic arm. The physical interaction relies on impedance control considerations. The control law is able to govern all the degrees of freedom of the system both in free-flight and during the interaction with the surrounding environment. In the latter case, the stability of the contact is robustly preserved. The video shows the robotic setup and the effectiveness of the proposed control algorithm in a real-world scenario.
2012
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
2653
2654
A. Torre, D. Mengoli, R. Naldi, F. Forte, A. Macchelli, L. Marconi (2012). A prototype of aerial manipulator [10.1109/IROS.2012.6386279].
A. Torre;D. Mengoli;R. Naldi;F. Forte;A. Macchelli;L. Marconi
File in questo prodotto:
Eventuali allegati, non sono esposti

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/305143
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 21
  • ???jsp.display-item.citation.isi??? 15
social impact