Aerial Grasping Based on Shape Adaptive Transformation by HALO: Horizontal Plane Transformable Aerial Robot with Closed-Loop Multilinks Structure
Aerial Grasping Based on Shape Adaptive Transformation by HALO: Horizontal Plane Transformable Aerial Robot with Closed-Loop Multilinks Structure
复制标题
基于形状自适应变换的HALO空中抓取：闭环多连杆结构水平面可变形空中机器人
DOI：
10.1109/icra.2018.8460928
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
M. Inaba
中科院分区：
文献类型：
--
作者：
T. Anzai;Moju Zhao;Shunichi Nozawa;Fan Shi;K. Okada;M. Inaba
在本文中，我们提出了实现空中抓取的形状自适应转换到物体的形状，使用一种新的可变形的空中机器人称为HALO：水平平面可变形的空中机器人与闭环多连杆结构。空中操作是一个非常活跃的研究领域，使用多个空中机器人是解决大尺寸物体的有效方法。但是，认为这种协同存在一些困难，如飞行控制的同步和相互碰撞。然后，重点研究了我们在前期工作中提出的二维多连杆可变形飞行机器人，该机器人能够根据目标物体的形状变形并抓取目标物体，但当连杆数超过4个时，由于连杆刚度低、转动惯量大，使得串联连杆结构的可变形飞行机器人在水平位置和偏航控制方面无法实现稳定飞行。因此，首先，我们构建了一种新型的多连杆与闭环结构，以避免变形和一个新的链接模块与倾斜的螺旋桨的全驱动控制。其次，我们描述了闭环多重链接的转换方法。第三，我们提出了优化规划方法的多连杆形式是自适应的目标对象的二维形状。最后，我们提出了实验结果，以证明闭环空中变换和空中抓取大尺寸的目标的可行性。
In this paper, we present the achievement of aerial grasping by shape adaptive transformation to the object shape, using a novel transformable aerial robot called HALO: Horizontal Plane Transformable Aerial Robot with Closed-loop Multilinks Structure. Aerial manipulation is an active research area and using multiple aerial robots is an effective solution for the large size object. However the cooperation is considered that there are some difficulties such as the synchronized flight control and collision with each other. Then, we focus on the transformable aerial robot with two-dimensional multilinks proposed in our previous works, which can transform to the suitable form for the target object and grasp it. However the transformable aerial robot with the serial-link structure could not achieve stable flight in terms of horizontal position and yaw control due to the low rigidity and large inertia in the case of more than 4 links. Thus, first we construct a novel type of multilinks with closed-loop structure to avoid the deformation and a new link module with a tilted propeller for fully-actuated control. Second, we describe transformation method with closed-loop multilinks. Third, we present the optimization planning method for the multilinks form to be adaptive to the two-dimensional shape of the target object. Finally, we present experimental results to demonstrate the feasibility of closed-loop aerial transformation and aerial grasping for the large size object.
DOI：
10.1109/iros.2016.7759271
发表时间：
2016-10
期刊：
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
影响因子：
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作者：
Markus Ryll;Davide Bicego;A. Franchi
通讯作者：
Markus Ryll;Davide Bicego;A. Franchi