A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear–quadratic–integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects.
AnzaiTZhaoMChenXet al. (2017) Multilinked multirotor with internal communication system for multiple objects transportation based on form optimization method. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5977–5984.
2.
BackusSBOdhnerLUDollarAM (2014) Design of hands for aerial manipulation: Actuator number and routing for grasping and perching. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 34–40.
3.
BouabdallahSSiegwartR (2007) Full control of a quadrotor. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007 (IROS 2007), pp. 153–158.
4.
ChoSShimDH (2017) Development of a vision-enabled aerial manipulator using a parallel robot. Transactions of the Japan Society for Aeronautical and Space Sciences, Aerospace Technology Japan15: a27–a36.
5.
DoitsidisLWeissSRenzagliaAKosmatopoulosESiegwartRScaramuzzaD (2012) Optimal surveillance coverage for teams of micro aerial vehicles in GPS-denied environments using onboard vision. Autonomous Robots33(1–2): 173–188.
6.
FerreauHKirchesCPotschkaABockHDiehlM (2014) qpOASES: A parametric active-set algorithm for quadratic programming. Mathematical Programming Computation6(4): 327–363.
7.
GawelAKamelMNovkovicTet al. (2017) Aerial picking and delivery of magnetic objects with mavs. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5746–5752.
8.
ISO (1993) Road vehicles - interchange of digital information - controller area network (CAN) for high-speed communication. ISO 11898.
9.
KaramanSFrazzoliE (2010) Incremental sampling-based algorithms for optimal motion planning. In: Proceedings of Robotics: Science and Systems, Zaragoza, Spain.
10.
KawasakiKMotegiYZhaoMOkadaKInabaM (2015) Dual connected bi-copter with new wall trace locomotion feasibility that can fly at arbitrary tilt angle. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 524–531.
11.
KojimaKKarasawaTKozukiTet al. (2015) Development of life-sized high-power humanoid robot JAXON for real-world use. In: 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015), Seoul, South Korea, 3–5November2015, pp. 838–843.
12.
KumarVMichaelN (2012) Opportunities and challenges with autonomous micro aerial vehicles. The International Journal of Robotics Research31(11): 1279–1291.
13.
LindseyQMellingerDKumarV (2012) Construction with quadrotor teams. Autonomous Robots33(3): 323–336.
14.
LippielloVCacaceJSantamaria-NavarroAet al. (2016) Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robotics and Automation Letters1(1): 259–266.
15.
MahonyRKumarVCorkeP (2012) Multirotor aerial vehicles: Modeling, estimation, and control of quadrotor. IEEE Robotics Automation Magazine19(3): 20–32.
16.
MellingerDLindseyQShominMKumarV (2011) Design, modeling, estimation and control for aerial grasping and manipulation. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2668–2673.
17.
MellingerDShominMMichaelNKumarV (2013) Cooperative Grasping and Transport Using Multiple Quadrotors. Berlin: Springer, pp. 545–558.
MichaelNShenSMohtaKet al. (2012) Collaborative mapping of an earthquake-damaged building via ground and aerial robots. Journal of Field Robotics29: 832–841.
20.
MuellerMWD’AndreaR (2016) Relaxed hover solutions for multicopters: Application to algorithmic redundancy and novel vehicles. The International Journal of Robotics Research35(8): 873–889.
21.
OungRD’AndreaR (2014) The distributed flight array: Design, implementation, and analysis of a modular vertical take-off and landing vehicle. The International Journal of Robotics Research33(3): 375–400.
22.
OungRRamezaniAD’AndreaR (2009) Feasibility of a distributed flight array. In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, pp. 3038–3044.
23.
PakPSSuzukiYFujiiK (1974) Synthesis of multivariable linear optimal servo-system incorporating integral-type controllers. Transactions of the Society of Instrument and Control Engineers10(1): 1–5.
24.
PoundsPEIBersakDRDollarAM (2011) Grasping from the air: Hovering capture and load stability. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 2491–2498.
25.
SeoJKimSKumarV (2012) Planar, bimanual, whole-arm grasping. In: 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 3271–3277.
26.
TsaiLW (1999) Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators. 1st ed. New York: John Wiley & Sons, Inc.
27.
UrataJNakanishiYOkadaKInabaM (2010) Design of high torque and high speed leg module for high power humanoid. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4497–4502.
28.
WatanabeTHaradaKYoshikawaTJiangZ (2006) Towards whole arm manipulation by contact state transition. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5682–5687.
29.
YoungPCWillemsJC (1972) An approach to the linear multivariable servomechanism problem. International Journal of Control15(5): 961–979.
30.
ZhaoMKawasakiKChenXNodaSOkadaKInabaM (2017) Whole-body aerial manipulation by transformable multirotor with two-dimensional multilinks. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5175–5182.
31.
ZhaoMKawasakiKOkadaKInabaM (2016) Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation. Advanced Robotics30(13): 825–845.
