dc.contributor.author | Nguyen, Dinh Huan | |
dc.contributor.author | Alexis, Konstantinos | |
dc.date.accessioned | 2022-02-15T13:45:20Z | |
dc.date.available | 2022-02-15T13:45:20Z | |
dc.date.created | 2021-11-26T11:07:25Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | IEEE Robotics and Automation Letters. 2021, 6 (2), 3711-3719. | en_US |
dc.identifier.issn | 2377-3766 | |
dc.identifier.uri | https://hdl.handle.net/11250/2979161 | |
dc.description.abstract | This letter presents the system design, modeling, and control of the Aerial Robotic Chain Manipulator. This new robot design offers the potential to exert strong forces and moments on the environment, carry and lift significant payloads, and simultaneously navigate through narrow corridors. We contribute a hybrid modeling framework to model the system both in Free-flight mode, where the end-effector acts as a normal pendulum, and in Aerial Manipulation mode, where the system behaves as an inverted pendulum. Respective controllers are designed for both operating modes with stability guarantees provided by Lyapunov theory. The presented experimental studies include a task of valve rotation, a pick-and-release task, and the verification of load oscillation suppression to demonstrate the stability and performance of the system. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.uri | https://ieeexplore.ieee.org/document/9372783 | |
dc.title | Forceful Aerial Manipulation Based on an Aerial Robotic Chain: Hybrid Modeling and Control | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.rights.holder | © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
dc.source.pagenumber | 3711-3719 | en_US |
dc.source.volume | 6 | en_US |
dc.source.journal | IEEE Robotics and Automation Letters | en_US |
dc.source.issue | 2 | en_US |
dc.identifier.doi | 10.1109/LRA.2021.3064254 | |
dc.identifier.cristin | 1959632 | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |