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  • 1.
    Fresk, Emil
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Wuthier, David
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Generalized center of gravity compensation for multirotors with application to aerial manipulation2017In: IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 4424-4429, article id 8206307Conference paper (Refereed)
    Abstract [en]

    The aim of this paper is to establish a generalized parameter estimation scheme to online estimate the Center of Gravity (COG) for multirotors, while using a geometric controller to perform position tracking for applications in aerial manipulation. The proposed scheme is developed so the controller uses the estimated COG to compensate and remove constant offset in the position tracking. The efficiency and validity of the proposed parameter estimation and compensation scheme is proved through two experimental evaluations, one when step changes to the COG are applied and one tracking experiment where a compact aerial manipulator is attached to the multirotor and performs sweeping motions.

    The full text will be freely available from 2019-12-14 09:08
  • 2.
    Wopereis, Han
    et al.
    Robotics and Mechatronics (RAM), University of Twente, Lichtenvoorde, 7131 TK, Netherlands.
    van de Ridder, L. W.
    University of Twente, Netherlands.
    Lankhorst, Tom J. W.
    University of Twente, Netherlands.
    Klooster, Lucian
    Mechanical Engineering, University of Twente, Enschede, 7514DN, Netherlands.
    Bukai, Evyatar
    University of Twente, Netherlands.
    Wuthier, David
    Mechanical engineering, Aalborg university Copenhagen, Copenhagen, 2450, Denmark.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Stramigioli, Stefano
    EWI, University of Twente, Enschede, 7500AE, Netherlands.
    Engelen, Johan B. C.
    Robotics and Mechatronics, University of Twente, Enschede, 7500AE, Netherlands.
    Fumagalli, Matteo
    Robotics, Vision and Machine Intelligence, Aalborg University, Copenhagen, 2450, Denmark.
    Multimodal Aerial Locomotion: An Approach to Active Tool Handling 10 Author2018In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 25, no 4, p. 57-65, article id 8491265Article in journal (Refereed)
    Abstract [en]

    The research focus in aerial robotics is shifting from contactless inspection toward interaction and manipulation, with the number of potential applications rapidly increasing [1]. Eventually, aerial manipulators, i.e., unmanned aerial vehicles (UAVs) equipped with manipulators, will likely take on hazardous maintenance tasks now performed by humans. For this to happen, aerial manipulators must be able to perform all the different operations required in these maintenance routines.

  • 3. Wuthier, David
    et al.
    Kominiak, Dariusz
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Fresk, Emil
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    A Geometric Pulling Force Controller for Aerial Robotic Workers2017In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 10287-10292Article in journal (Refereed)
    Abstract [en]

    The aim of this article is to establish a geometric, pulling force control scheme in order to enable the concept of Aerial Robotic Workers (ARWs), where the capabilities of the Unmanned Aerial Vehicles (UAVs) are enhanced by aerial manipulators in order to exert known pulling forces on the environment, with characteristic applications such as levers actuation, debris removal and safety assessments. The proposed novel approach consists of interfacing a cascaded position control scheme with a manipulation framework in such a way that the UAV, together with the manipulator are being controlled in a complete system The validity of the proposed scheme as well as the ability of the UAV to track a desired pulling force is validated through a real-world experiment.

  • 4.
    Wuthier, David
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kominiak, Dariusz
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kanellakis, Christoforos
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Andrikopoulos, Georgios
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Fumagalli, Matteo
    Aalborg University.
    Schipper, G.
    University of Twente.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    On the Design, Modeling and Control of a Novel Compact Aerial Manipulator2016In: 24th Mediterranean Conference on Control and Automation, MED 2016, Piscataway, NJ: IEEE Communications Society, 2016, p. 665-670, article id 7536029Conference paper (Refereed)
    Abstract [en]

    The aim of this article is to present a novel fourdegree-of-freedom aerial manipulator allowing a multirotorUnmanned Aerial Vehicle (UAV) to physically interact with theenvironment. The proposed design, named CARMA (CompactAeRial MAnipulator), is characterized by low disturbances onthe UAV flight dynamics, extended workspace (with regard toits retracted configuration) and fast dynamics (compared to theUAV dynamics). The dynamic model is formulated and a controlstructure consisting of an inverse kinematics algorithm and independentjoint position controllers is presented. Furthermore,the design specifications of the prototype are analyzed in detail,while experimental evaluations are conducted for the extractionof the manipulator’s workspace and the evaluation of system’stracking capabilities over pick-and-place trajectories. Finally,it is shown that the selected joint position sensors, combinedwith the derived inverse dynamic algorithm allow to determinethe wrenches exerted at the base, due to swift motions of thearm.

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