451 research outputs found
Visual servoing of aerial manipulators
The final publication is available at link.springer.comThis chapter describes the classical techniques to control an aerial manipulator by means of visual information and presents an uncalibrated image-based visual servo method to drive the aerial vehicle. The proposed technique has the advantage that it contains mild assumptions about the principal point and skew values of the camera, and it does not require prior knowledge of the focal length, in contrast to traditional image-based approaches.Peer ReviewedPostprint (author's final draft
Design of an Anthropomorphic, Compliant, and Lightweight Dual Arm for Aerial Manipulation
This paper presents an anthropomorphic, compliant and lightweight dual arm manipulator designed and developed for aerial manipulation applications with multi-rotor platforms. Each arm provides four degrees of freedom in a human-like kinematic configuration for end effector positioning: shoulder pitch, roll and yaw, and elbow pitch. The dual arm, weighting 1.3 kg in total, employs smart servo actuators and a customized and carefully designed aluminum frame structure manufactured by laser cut. The proposed
design reduces the manufacturing cost as no computer numerical control machined part is used. Mechanical joint compliance is provided in all the joints, introducing a compact spring-lever transmission mechanism between the servo shaft and the links, integrating a potentiometer for measuring the deflection of the joints.
The servo actuators are partially or fully isolated against impacts and overloads thanks to the ange bearings attached to the frame structure that support the rotation of the links and the deflection of the joints. This simple mechanism increases the robustness of the arms and safety in the physical interactions between the aerial
robot and the environment. The developed manipulator has been validated through different experiments in fixed base test-bench and in outdoor flight tests.Unión Europea H2020-ICT-2014- 644271Ministerio de EconomÃa y Competitividad DPI2015-71524-RMinisterio de EconomÃa y Competitividad DPI2017-89790-
Aerial-Ground collaborative sensing: Third-Person view for teleoperation
Rapid deployment and operation are key requirements in time critical
application, such as Search and Rescue (SaR). Efficiently teleoperated ground
robots can support first-responders in such situations. However, first-person
view teleoperation is sub-optimal in difficult terrains, while a third-person
perspective can drastically increase teleoperation performance. Here, we
propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide
third-person perspective to ground robots. While our approach is based on local
visual servoing, it further leverages the global localization of several ground
robots to seamlessly transfer between these ground robots in GPS-denied
environments. Therewith one MAV can support multiple ground robots on a demand
basis. Furthermore, our system enables different visual detection regimes, and
enhanced operability, and return-home functionality. We evaluate our system in
real-world SaR scenarios.Comment: Accepted for publication in 2018 IEEE International Symposium on
Safety, Security and Rescue Robotics (SSRR
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
This paper presents an omnidirectional aerial manipulation platform for
robust and responsive interaction with unstructured environments, toward the
goal of contact-based inspection. The fully actuated tilt-rotor aerial system
is equipped with a rigidly mounted end-effector, and is able to exert a 6
degree of freedom force and torque, decoupling the system's translational and
rotational dynamics, and enabling precise interaction with the environment
while maintaining stability. An impedance controller with selective apparent
inertia is formulated to permit compliance in certain degrees of freedom while
achieving precise trajectory tracking and disturbance rejection in others.
Experiments demonstrate disturbance rejection, push-and-slide interaction, and
on-board state estimation with depth servoing to interact with local surfaces.
The system is also validated as a tool for contact-based non-destructive
testing of concrete infrastructure.Comment: Accepted submission to Robotics: Science and Systems conference 2019.
9 pages, 12 figure
A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems
Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests
Uncalibrated visual servo for unmanned aerial manipulation
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to prioritize several tasks during flight. We propose a safety-related primary task to avoid possible collisions. As a secondary task, we present an uncalibrated image-based visual servo strategy to drive the arm end-effector to a desired position and orientation by using a camera attached to it. In contrast to the previous visual servo approaches, a known value of camera focal length is not strictly required. To further improve flight behavior, we hierarchically add one task to reduce dynamic effects by vertically aligning the arm center of gravity to the multirotor gravitational vector, and another one that keeps the arm close to a desired configuration of high manipulability and avoiding arm joint limits. The performance of the hierarchical control law, with and without activation of each of the tasks, is shown in simulations and in real experiments confirming the viability of such prioritized control scheme for aerial manipulation.Peer ReviewedPostprint (author's final draft
Hybrid visual servoing with hierarchical task composition for aerial manipulation
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.Peer ReviewedPostprint (author's final draft
Hierarchical task control for aerial inspection
Trabajo presentado al Workshop and Summer School on Field Robotics (euRathlon/ARCAS), celebrado en Sevilla (España) del 15 al 18 de junio de 2014.This paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously not feasible for the quadrotor. The over-actuation of the whole system is exploited with a hierarchical control law to achieve a primary task consisting on a visual servoing control, whilst secondary tasks can also be attained to minimize gravitational effects or undesired arm configurations. Results are shown in a Robot Operating System (ROS) simulation.This work has been partially funded by the EU project ARCAS FP7-287617.Peer Reviewe
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation
tasks beyond just passive visual application can reduce the time, cost, and
risk of human workers. Prior research on aerial manipulation has relied on
either ground truth state estimate or GPS/total station with some Simultaneous
Localization and Mapping (SLAM) algorithms, which may not be practical for many
applications close to infrastructure with degraded GPS signal or featureless
environments. Visual servo can avoid the need to estimate robot pose. Existing
works on visual servo for aerial manipulation either address solely
end-effector position control or rely on precise velocity measurement and
pre-defined visual visual marker with known pattern. Furthermore, most of
previous work used under-actuated UAVs, resulting in complicated mechanical and
hence control design for the end-effector. This paper develops an image-based
visual servo control strategy for bridge maintenance using a fully-actuated
UAV. The main components are (1) a visual line detection and tracking system,
(2) a hybrid impedance force and motion control system. Our approach does not
rely on either robot pose/velocity estimation from an external localization
system or pre-defined visual markers. The complexity of the mechanical system
and controller architecture is also minimized due to the fully-actuated nature.
Experiments show that the system can effectively execute motion tracking and
force holding using only the visual guidance for the bridge painting. To the
best of our knowledge, this is one of the first studies on aerial manipulation
using visual servo that is capable of achieving both motion and force control
without the need of external pose/velocity information or pre-defined visual
guidance.Comment: Accepted by 2023 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS
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