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

Burak Yüksel; Nicolas Staub; Antonio Franchi

doi:10.1109/IROS.2016.7759268

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 proceeding › Conference contribution › Academic › peer-review

13 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 language	English
Title of host publication	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1667-1672
Number of pages	6
ISBN (Electronic)	978-1-5090-3762-9
ISBN (Print)	978-1-5090-3763-6, 978-1-5090-3761-2
DOIs	https://doi.org/10.1109/IROS.2016.7759268
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon Convention Center, Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016 http://www.iros2016.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Publisher	IEEE
Volume	2016
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Abbreviated title	IROS
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16
Internet address	http://www.iros2016.org/

Access to Document

10.1109/IROS.2016.7759268

Cite this

Yüksel, B., Staub, N., & Franchi, A. (2016). Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 1667-1672). Article 7759268 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016). IEEE. https://doi.org/10.1109/IROS.2016.7759268

@inproceedings{d5fd027cfc9e49b79ee7bf2f36d8eb98,

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

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.",

author = "Burak Y{\"u}ksel and Nicolas Staub and Antonio Franchi",

year = "2016",

month = nov,

day = "28",

doi = "10.1109/IROS.2016.7759268",

language = "English",

isbn = "978-1-5090-3763-6",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "1667--1672",

booktitle = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)",

address = "United States",

note = "2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, IROS ; Conference date: 09-10-2016 Through 14-10-2016",

url = "http://www.iros2016.org/",

}

Yüksel, B, Staub, N & Franchi, A 2016, Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)., 7759268, IEEE International Conference on Intelligent Robots and Systems, vol. 2016, IEEE, Piscataway, NJ, pp. 1667-1672, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759268

Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. / Yüksel, Burak; Staub, Nicolas; Franchi, Antonio.
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Piscataway, NJ: IEEE, 2016. p. 1667-1672 7759268 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Aerial robots with rigid/elastic-joint arms

T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

AU - Yüksel, Burak

AU - Staub, Nicolas

AU - Franchi, Antonio

PY - 2016/11/28

Y1 - 2016/11/28

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85006381891&partnerID=8YFLogxK

U2 - 10.1109/IROS.2016.7759268

DO - 10.1109/IROS.2016.7759268

M3 - Conference contribution

AN - SCOPUS:85006381891

SN - 978-1-5090-3763-6

SN - 978-1-5090-3761-2

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1667

EP - 1672

BT - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)

PB - IEEE

CY - Piscataway, NJ

Y2 - 9 October 2016 through 14 October 2016

ER -

Yüksel B, Staub N, Franchi A. Aerial robots with rigid/elastic-joint arms: Single-joint controllability study and preliminary experiments. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016). Piscataway, NJ: IEEE. 2016. p. 1667-1672. 7759268. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2016.7759268

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

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this