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.



There are no comments yet.


page 2

page 21

page 26

page 28

page 29

page 30

page 31

page 32


Visually Guided Balloon Popping with an Autonomous MAV at MBZIRC 2020

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

THE ETH-MAV Team in the MBZ International Robotics Challenge

This article describes the hardware and software systems of the Micro Ae...

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...

Design and Development of a Gecko-Adhesive Gripper for the Astrobee Free-Flying Robot

Assistive free-flying robots are a promising platform for supporting and...

TrimBot2020: an outdoor robot for automatic gardening

Robots are increasingly present in modern industry and also in everyday ...

Singularity-free Aerial Deformation by Two-dimensional Multilinked Aerial Robot with 1-DoF Vectorable Propeller

Two-dimensional multilinked structures can benefit aerial robots in both...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.