TY - JOUR
T1 - Developing an aerial manipulator prototype
T2 - Physical interaction with the environment
AU - Fumagalli, Matteo
AU - Naldi, Roberto
AU - Macchelli, Alessandro
AU - Forte, Francesco
AU - Keemink, Arvid Q.L.
AU - Stramigioli, Stefano
AU - Carloni, Raffaella
AU - Marconi, Lorenzo
PY - 2014/9/1
Y1 - 2014/9/1
N2 - This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.
AB - This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.
UR - http://www.scopus.com/inward/record.url?scp=84907215632&partnerID=8YFLogxK
U2 - 10.1109/MRA.2013.2287454
DO - 10.1109/MRA.2013.2287454
M3 - Journal article
AN - SCOPUS:84907215632
SN - 1070-9932
VL - 21
SP - 41
EP - 50
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 3
M1 - 6875943
ER -