Modeling and control of a flying robot for contact inspection

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

doi:10.1109/IROS.2012.6385917

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 proceeding › Conference contribution › Academic › peer-review

125 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 language	Undefined
Title of host publication	Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE
Pages	3532-3537
Number of pages	6
ISBN (Print)	978-1-4673-1737-5
DOIs	https://doi.org/10.1109/IROS.2012.6385917
Publication status	Published - Oct 2012
Event	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 http://www.iros2012.org/site/

Publication series

Name
ISSN (Print)	2153-0858

Conference

Conference	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
Abbreviated title	IROS 2012
Country/Territory	Portugal
City	Vilamoura
Period	7/10/12 → 12/10/12
Internet address	http://www.iros2012.org/site/

Keywords

METIS-296216
EWI-22882

Access to Document

10.1109/IROS.2012.6385917

Cite this

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title = "Modeling and control of a flying robot for contact inspection",

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.",

keywords = "METIS-296216, EWI-22882",

author = "Matteo Fumagalli and R. Naldi and A. Macchelli and Raffaella Carloni and Stefano Stramigioli and L. Marconi",

note = "10.1109/IROS.2012.6385917 ; IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

year = "2012",

month = oct,

doi = "10.1109/IROS.2012.6385917",

language = "Undefined",

isbn = "978-1-4673-1737-5",

publisher = "IEEE",

pages = "3532--3537",

booktitle = "Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems",

address = "United States",

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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. IEEE, USA, pp. 3532-3537, IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385917

TY - GEN

T1 - Modeling and control of a flying robot for contact inspection

AU - Fumagalli, Matteo

AU - Naldi, R.

AU - Macchelli, A.

AU - Carloni, Raffaella

AU - Stramigioli, Stefano

AU - Marconi, L.

N1 - 10.1109/IROS.2012.6385917

PY - 2012/10

Y1 - 2012/10

N2 - 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.

AB - 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.

KW - METIS-296216

KW - EWI-22882

U2 - 10.1109/IROS.2012.6385917

DO - 10.1109/IROS.2012.6385917

M3 - Conference contribution

SN - 978-1-4673-1737-5

SP - 3532

EP - 3537

BT - Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems

PB - IEEE

CY - USA

T2 - IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012

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ER -