Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction
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Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction
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Author : Karen Bodie
language : en
Publisher: Springer Nature
Release Date : 2023-12-15
Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction written by Karen Bodie and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-12-15 with Technology & Engineering categories.
This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.
Experimental Robotics
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Author : Marcelo H. Ang Jr
language : en
Publisher: Springer Nature
Release Date : 2024-08-05
Experimental Robotics written by Marcelo H. Ang Jr and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-08-05 with Technology & Engineering categories.
This book presents scientific and practical developments in the emerging trends of human-centric robotics in unstructured environments, covering Human–Robot Collaboration, Mobile Robotics and Manipulation, Field Robotics, Aerial Robotics, Humanoids, and Autonomous Driving. It offers insights into the latest scientific and technological development in robot–human interactions, advanced autonomy, and robust designs for real-world applications. This edition's approach is characterized by strong scientific developments backed by practical applications, offering detailed case studies and experimental data that support the theoretical foundations of robotic technology. By emphasizing the application side of research, it encourages readers to consider not only, theoretical advancements in robotics but also the implications and opportunities for real-world integration.
Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation
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Author : Burak Yüksel
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2017-06-10
Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation written by Burak Yüksel and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-10 with Technology & Engineering categories.
Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.
Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence
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Author : Teodor Tomić
language : en
Publisher: Springer Nature
Release Date : 2022-10-07
Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence written by Teodor Tomić and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-10-07 with Technology & Engineering categories.
This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.
Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers
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Author : Marco Tognon
language : en
Publisher:
Release Date : 2021
Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers written by Marco Tognon and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.
This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.
2021 Aerial Robotic Systems Physically Interacting With The Environment Airpharo
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Author : IEEE Staff
language : en
Publisher:
Release Date : 2021-10-04
2021 Aerial Robotic Systems Physically Interacting With The Environment Airpharo written by IEEE Staff and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-10-04 with categories.
The Scope includes technologies, functionalities, regulation and safety Issues, applications and education related to aerial manipulation and transportation The technologies are Aerial Manipulation, Soft aerial robots and compliance, Bio inspiration, Teleoperation, Hybrid aerial marine ground, Air ground Air ground marine Air marine interaction, Recharging Refueling, Multi robot cooperation with physical interaction The functionalities include Contact inspection, Transportation, Deployment and retrieval, Co working with humans, Sampling, Cleaning, complex environment exploration There scope also includes regulation and safety issues involving risk analysis and Applications including Infrastructure Inspection and Maintenance, Agriculture, Construction, Environment protection, Fire fighting and Health care Finally, the education includes educational prototypes and software tools
Hybrid Predictive Control For Aerial Robotic Physical Interaction Towards Inspection Operations
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Author : Georgios Darivianakis
language : en
Publisher:
Release Date : 2014
Hybrid Predictive Control For Aerial Robotic Physical Interaction Towards Inspection Operations written by Georgios Darivianakis and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with categories.
Aerial Robots
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Author : Omar D Lopez Mejia
language : en
Publisher: BoD – Books on Demand
Release Date : 2017-09-06
Aerial Robots written by Omar D Lopez Mejia and has been published by BoD – Books on Demand this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-06 with Science categories.
Few years ago, the topic of aerial robots was exclusively related to the robotics community, so a great number of books about the dynamics and control of aerial robots and UAVs have been written. As the control technology for UAVs advances, the great interaction that exists between other systems and elements that are as important as control such as aerodynamics, energy efficiency, acoustics, structural integrity, and applications, among others has become evident. Aerial Robots - Aerodynamics, Control, and Applications is an attempt to bring some of these topics related to UAVs together in just one book and to look at a selection of the most relevant problems of UAVs in a broader engineering perspective.
A First Course In Aerial Robots And Drones
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Author : Yasmina Bestaoui Sebbane
language : en
Publisher: CRC Press
Release Date : 2022-02-23
A First Course In Aerial Robots And Drones written by Yasmina Bestaoui Sebbane and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-02-23 with Computers categories.
A First Course in Aerial Robots and Drones provides an accessible and student friendly introduction to aerial robots and drones. Drones figure prominently as opportunities for students to learn various aspects of aerospace engineering and design. Drones offer an enticing entry point for STEM studies. As the use of drones in STEM studies grows, there is an emerging generation of drone pilots who are not just good at flying, but experts in specific niches, such as mapping or thermography. Key Features: Focuses on algorithms that are currently used to solve diverse problems. Enables students to solve problems and improve their science skills. Introduces difficult concepts with simple, accessible examples. Suitable for undergraduate students, this textbook provides students and other readers with methods for solving problems and improving their science skills.
Bio Inspired Flying Robots
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Author : Jean-Christophe Zufferey
language : en
Publisher: CRC Press
Release Date : 2008-04-24
Bio Inspired Flying Robots written by Jean-Christophe Zufferey and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04-24 with Science categories.
This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and