Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control

Autor: Pedro J. Sanchez-Cuevas, Antonio Gonzalez-Morgado, Nicolas Cortes, Diego B. Gayango, Antonio E. Jimenez-Cano, Aníbal Ollero, Guillermo Heredia

Publikováno v: Sensors, Vol 20, Iss 17, p 4708 (2020)

This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contac

Externí odkaz: https://doaj.org/article/81e89f56050e483c808ffb68ababc159

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Autor: Antonio Franchi, A. E. Jimenez-Cano, Martin Jacquet, Daniel Sidobre, Amr Afifi, Gianluca Corsini

Publikováno v: The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment
The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨10.1109/AIRPHARO52252.2021.9571053⟩
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
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International audience; In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integra

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f6d20042000f1792aa1c34f9ba29654c
https://doi.org/10.1109/airpharo52252.2021.9571053

Centralized Control of Multirotors with Manipulators

Autor: A. E. Jimenez-Cano, Guillermo Heredia, Anibal Ollero

Publikováno v: Springer Tracts in Advanced Robotics ISBN: 9783030129446
Aerial Robotic Manipulation

Multirotors with manipulator arms are multibody systems whose mass characteristics (position of center of mass and moments of inertia) change with time when the arms move and bear reaction torques generated by the arm servos. This chapter presents a

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::d36e6a0a77f21be3852d90b8d112d3ec
https://doi.org/10.1007/978-3-030-12945-3_8

An Efficient Fast-Mapping SLAM Method for UAS Applications Using Only Range Measurements

Autor: Anibal Ollero, J.R. Martinez-de Dios, A. E. Jimenez-Cano, Arturo Torres-González

Publikováno v: Unmanned Systems. :155-165

This paper deals with 3D Simultaneous Localization and Mapping (SLAM), where the UAS uses only range measurements to build a local map of an unknown environment and to self-localize in that map. In the recent years Range Only (RO) SLAM has attracted

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::5f1dfcef7451806ac44a86a4b0f897f9
https://doi.org/10.1142/s2301385016500035

Modelling and control of an aerial manipulator consisting of an autonomous helicopter equipped with a multi-link robotic arm

Autor: A. E. Jimenez-Cano, Manuel Bejar, Guillermo Heredia, Anibal Ollero, Konstantin Kondak

Publikováno v: Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering. 230:1860-1870

This article deals with aerial manipulators consisting of unmanned helicopters equipped with robotic multi-link arms. This setup has strong potentialities for structure assembly and manipulation tasks, which makes it a valuable resource in outdoor in

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::883d1cee6727150084f11d884ec2242e
https://doi.org/10.1177/0954410015619442