Modeling and control of a flying robot for contact inspection

Matteo Fumagalli, R. Naldi, A. Macchelli, Raffaella Carloni, Stefano Stramigioli, L. Marconi

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

    98 Citations (Scopus)

    Abstract

    This paper focuses on the modeling and control of a flying robot. The complete system, composed of a quadrotor unmanned aerial vehicle and a custom-made manipulator, has been designed for remote inspection by contact of industrial plants. The goal of this paper is to show the dynamical characteristics of the flying robot during tasks that require physical interaction, and to determine a control strategy that allows to safely interact with unknown environments. The methodology has been implemented on a real prototype and tested in an indoor area. Experimental results validate the proposed controller and show its effectiveness.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages3532-3537
    Number of pages6
    ISBN (Print)978-1-4673-1737-5
    DOIs
    Publication statusPublished - Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012
    http://www.iros2012.org/site/

    Publication series

    Name
    ISSN (Print)2153-0858

    Conference

    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    CountryPortugal
    CityVilamoura
    Period7/10/1212/10/12
    Internet address

    Keywords

    • METIS-296216
    • EWI-22882

    Cite this

    Fumagalli, M., Naldi, R., Macchelli, A., Carloni, R., Stramigioli, S., & Marconi, L. (2012). Modeling and control of a flying robot for contact inspection. In Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems (pp. 3532-3537). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2012.6385917