2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)最新文献_第4页

Perception-Based UAV Fruit Grasping Using Sub-Task Imitation Learning 基于感知的无人机水果抓取子任务模仿学习

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571066

Gabriel Baraban, Siddharth Kothiyal, Marin Kobilarov

引用次数: 0

Grabbing power line conductors based on the measurements of the magnetic field strength 根据磁场强度的测量来抓取电力线导体

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571037

Goran Vasiljević, Dean Martinovic, M. Orsag, S. Bogdan

引用次数: 3

Experimental Evaluation of Aerial Manipulation Robot for the Installation of Clip Type Bird Diverters: Outdoor Flight Tests 安装夹式导鸟器的空中操纵机器人的实验评价:室外飞行试验

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571029

A. Suárez, Honorio Romero, Rafael Salmoral, J. A. Acosta, Jesús Zambrano, A. Ollero

引用次数: 5

Ground Support for Drone-based Industrial Inspections 基于无人机的工业检查地面支持

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571042

Ulrico Celentano, Marko Kauppinen, J. Röning

引用次数: 1

Design and Manufacture of the Wing Folding Mechanism for a Bioinspired Ornithopter 仿生扑翼机机翼折叠机构的设计与制造

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571024

Lorena Calvente, J. Acosta, A. Ollero

引用次数: 2

Robust Adaptive Non-Linear Control Design for an Aerial Robot with In-Door Application in Constrained Corridors 室内受限走廊空中机器人鲁棒自适应非线性控制设计

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571026

V. Sumathy, D. Ghose

{"title":"Robust Adaptive Non-Linear Control Design for an Aerial Robot with In-Door Application in Constrained Corridors","authors":"V. Sumathy, D. Ghose","doi":"10.1109/AIRPHARO52252.2021.9571026","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571026","url":null,"abstract":"A robust adaptive non-linear controller for a quadcopter manipulator system, used in applications in constrained narrow corridors, is proposed in this paper. The aerial robot considered comprises a three degree of freedom manipulator attached to the aerial vehicle's center of gravity at the bottom. During tasks that involve constrained environments like corridors, the controller should provide efficient control inputs to traverse with minimum trajectory tracking error, disturbance rejection, and stability. External disturbances such as wind, noise, and other factors and unmodeled non-linearities within the model affect the system in real-time applications and degrade its performance. To achieve stability and minimize trajectory tracking error, a novel robust augmented adaptive torque control law is developed for the system, which combines a feedback linearization controller with a model reference adaptive controller. The integrated system has a coupled uncertain non-linear dynamics. The adaptive mechanism's update law is derived using the SPR-Lyapunov approach and then modified with a Γ-projection operator to ensure that the estimates are bounded. In addition, the designed controller with projection-based adaptive law is implemented on the unified plant dynamics and evaluated using MATLAB and ROS/Gazebo simulations. A real-time task scenario is developed in ROS/Gazebo, with two rooms connected by a small corridor as the environment and ArUco marks on the walls serving as targets.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123360445","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: 2

AIRPHARO 2021 Venue AIRPHARO 2021场地

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/airpharo52252.2021.9571062

引用次数: 0

Robust and Efficient Pose Estimation of Pipes for Contact Inspection using Aerial Robots 航空机器人接触检测中管道姿态的鲁棒高效估计

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI: 10.1109/AIRPHARO52252.2021.9571059

M. Salvago, F. J. Pérez-Gran, J. Parra, M. A. Trujillo, A. Viguria

引用次数: 0

Passivity Analysis of Quadrotor Aircraft for Physical Interactions 四旋翼飞行器物理相互作用的被动分析

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-09-01 DOI: 10.1109/AIRPHARO52252.2021.9571055

Jonathon E. Slightam, Daniel R. McArthur, S. Spencer, S. Buerger

{"title":"Passivity Analysis of Quadrotor Aircraft for Physical Interactions","authors":"Jonathon E. Slightam, Daniel R. McArthur, S. Spencer, S. Buerger","doi":"10.1109/AIRPHARO52252.2021.9571055","DOIUrl":"https://doi.org/10.1109/AIRPHARO52252.2021.9571055","url":null,"abstract":"The broad dissemination of unmanned aerial vehicles (UAV s), specifically quadrotor aircraft, has accelerated their successful use in a wide range of industrial, military, and agricultural applications. Research in the growing field of aerial manipulation (AM) faces many challenges but may enable the next generation of UAV applications. The physical contact required to perform AM tasks results in dynamic coupling with the environment, which may lead to instability with devastating consequences for a UAV in flight. Considering these concerns, this work seeks to determine whether off-the-shelf flight controllers for quadrotor UAV s are suitable for AM applications by investigating the passivity and coupled-stability of quad rotors using generic cascaded position-attitude (CPA) and PX4 flight controllers. Using a planar 3-degree of freedom (DOF) linearized state-space model and two high fidelity 6-DOF models with the CPA and PX4 closed-loop flight controllers, passivity is analyzed during free flight, and stability is analyzed when the UAV is coupled to environments with varying degrees of stiffness. This analysis indicates that quadrotors using the CPA and PX4 flight controllers are non-passive (except for the PX4 controller in the vertical direction with certain vehicle parameters) and may become unstable when the UAV is coupled with environments of certain stiffnesses. Similarities between the results from the linearized 3-DOF model and nonlinear 6-DOF models in the passivity analysis suggest that using an analytical, linear approach is sufficient and potentially useful for vehicle geometry and controller design to improve stability for AM applications.","PeriodicalId":415722,"journal":{"name":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129266512","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: 2

Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction 基于物理人机交互的人体行走步态建模与估计

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-08-27 DOI: 10.1109/AIRPHARO52252.2021.9571032

Yash Vyas, Mike Allenspach, Christian Lanegger, R. Siegwart, M. Tognon

引用次数: 2