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EnglishThis 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.
| Titolo: | A prototype of aerial manipulator |
| Autore/i: | TORRE, ALESSIO; D. Mengoli; NALDI, ROBERTO; FORTE, FRANCESCO; MACCHELLI, ALESSANDRO; MARCONI, LORENZO |
| Autore/i Unibo: | |
| Anno: | 2012 |
| Titolo del libro: | Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Pagina iniziale: | 2653 |
| Pagina finale: | 2654 |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1109/IROS.2012.6386279 |
| 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. |
| Data prodotto definitivo in UGOV: | 27-giu-2014 |
| Appare nelle tipologie: | 4.01 Contributo in Atti di convegno |
File in questo prodotto:
http://hdl.handle.net/11585/305143
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