Versatile Multilinked Aerial Robot with Tilting Propellers: Design, Modeling, Control and State Estimation for Autonomous Flight and Manipulation

by   Moju Zhao, et al.

Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been evaluated because of the weakness in the controllability and the lack of the state estimation for autonomous flight. Thus we adopt tilting propellers to enhance the controllability. The related design, modeling and control method are developed in this work to enable the stable hovering and deformation. Furthermore, the state estimation which involves the time synchronization between sensors and the multilinked kinematics is also presented in this work to enable the fully autonomous flight in the outdoor environment. Various autonomous outdoor experiments, including the fast maneuvering for interception with target, object grasping for delivery, and blanket manipulation for firefighting are performed to evaluate the feasibility and versatility of the proposed robot platform. To the best of our knowledge, this is the first study for the multilinked aerial robot to achieve the fully autonomous flight and the manipulation task in outdoor environment. We also applied our platform in all challenges of the 2020 Mohammed Bin Zayed International Robotics Competition, and ranked third place in Challenge 1 and sixth place in Challenge 3 internationally, demonstrating the reliable flight performance in the fields.


page 2

page 21

page 26

page 28

page 29

page 30

page 31

page 32


Experimental method for perching flapping-wing aerial robots

In this work, we present an experimental setup and guide to enable the p...

Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020

Visually guided control of micro aerial vehicles (MAV) demands for robus...

How ornithopters can perch autonomously on a branch

Flapping wings are a bio-inspired method to produce lift and thrust in a...

Simulation Platform for Autonomous Aerial Manipulation in Dynamic Environments

The aerial manipulator (AM) is a systematic operational robotic platform...

Learning Transferable Policies for Monocular Reactive MAV Control

The ability to transfer knowledge gained in previous tasks into new cont...

Experimental Evaluation of Continuum Deformation with a Five Quadrotor Team

This paper experimentally evaluates continuum deformation cooperative co...

Please sign up or login with your details

Forgot password? Click here to reset