Volume 5A: 43rd Mechanisms and Robotics Conference最新文献

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Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot 仿生机器人张拉整体机构的设计与分析
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/DETC2019-97544
Swaminath Venkateswaran, M. Furet, D. Chablat, P. Wenger
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引用次数: 7
Quadrotor Singularity Free Modeling and Acrobatic Maneuvering 四旋翼奇点自由建模和杂技机动
Volume 5A: 43rd Mechanisms and Robotics Conference Pub Date : 2019-08-18 DOI: 10.1115/detc2019-97205
Haowen Liu, Bingen Yang
{"title":"Quadrotor Singularity Free Modeling and Acrobatic Maneuvering","authors":"Haowen Liu, Bingen Yang","doi":"10.1115/detc2019-97205","DOIUrl":"https://doi.org/10.1115/detc2019-97205","url":null,"abstract":"\u0000 When an unmanned aerial vehicle (UAV) navigates reactively over an unknown land, it may encounter terrains that require aggressive maneuver to keep the designed coasting speed while staying on the path. During this execution of the aggressive maneuver, the UAV can experience singularity. In this article, a vertical loop aggressive maneuver performed by a quadrotor UAV is investigated. Due to the physical configuration of the quadrotor, the conventional modeling and tracking control method may not be desirable if certain requirements, such as fast coasting speed and sharp turns, are imposed. In this work, a new modeling and maneuver control method, which is called the controlled loop path following (CLPF) method is developed. As shown in numerical examples, the proposed singularity-free model and control method enables a quadrotor to be operated in aggressive maneuverability with features like automatic flipping and precise trajectory following.","PeriodicalId":178253,"journal":{"name":"Volume 5A: 43rd Mechanisms and Robotics Conference","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115217635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
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