Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments

Burak Yüksel, Nicolas Staub, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)

Abstract

We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.

Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1667-1672
Number of pages6
ISBN (Electronic)978-1-5090-3762-9
ISBN (Print)978-1-5090-3763-6, 978-1-5090-3761-2
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of
Duration: 9 Oct 201614 Oct 2016
http://www.iros2016.org/

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
PublisherIEEE
Volume2016
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated titleIROS
CountryKorea, Republic of
CityDaejeon
Period9/10/1614/10/16
Internet address

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