Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction

Burak Yuksel, Saber Mahboubi, Cristian Secchi, Heinrich H. Bulthoff, Antonio Franchi

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

19 Citations (Scopus)

Abstract

In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing. The actuator consists of an active pulley driven by a rotational servo motor, a passive pulley which is attached to a rigid link, and the elastic connections (springs) between these two pulleys. We identify the physical parameters of the system, and use an optimal control strategy to maximize its velocity by taking advantage of elastic components. The prototype can be extended to a light-weight variable stiffness actuator. The flexible-joint arm is applied on a quadrotor, to be used in aerial physical interaction tasks, which implies that the elastic components can also be used for stable interaction absorbing the interactive disturbances which might damage the flying system and its hardware. The design is validated through several experiments, and future developments are discussed in the paper.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages870-876
Number of pages7
ISBN (Electronic)978-1-4799-6923-4
ISBN (Print)978-1-4799-6921-0
DOIs
Publication statusPublished - 29 Jun 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Volume2015
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Abbreviated titleICRA
CountryUnited States
CitySeattle
Period26/05/1530/05/15

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