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Artículo
Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control
(MDPI, 2020-08)
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves ...
Artículo
An aerodynamic extension for motion planning with dynamics awareness in aerial long-reach manipulators
(Hindawi Publishing Corporation, 2020)
This paper presents a novel method for motion planning of aerial long-reach manipulators that considers the aerodynamic effects generated by close surfaces in the trajectory generation process. The aerial manipulation ...
Artículo
Localization System for Lightweight Unmanned Aerial Vehicles in Inspection Tasks
(MDPI, 2021-09)
This paper presents a localization system for Unmanned Aerial Vehicles (UAVs) especially designed to be used in infrastructure inspection, where the UAVs have to fly in challenging conditions, such as relatively high ...
Artículo
Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
(MDPI, 2020-12)
This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). ...
Patente. Invención
Tren de aterrizaje acoplable a una estructura de un dron
(Oficina Española de Patentes y Marcas (OEPM), 2022-03-31)
Tren de aterrizaje, acoplable a una superficie inferior de un dron (3), para posicionar sensores sobre una tubería para inspección, que comprende al menos dos mecanismos de pinza (1), acoplables a la superficie inferior ...
Artículo
Numerical-experimental evaluation and modelling of aerodynamic ground effect for small-scale tilted propellers at low Reynolds numbers
(Elsevier, 2022-07)
In recent years, aerial manipulators with fully-actuated capabilities are gaining popularity for being used in aerial manipulation operations such as critical infrastructure inspection or aerial manipulation tasks. Those ...
Tesis Doctoral
Modelling And Control Of Aerial Manipulators Considering Aerodynamic Effects
(2020-12-18)
The interest of the research community in Unmanned Aerial Vehicles (UAVs) has signi cantly grown in the last decade. Actually, this topic is becoming specially attractive for industrial companies due to its varied ...
Artículo
Aerial manipulator with rolling base for inspection of pipe arrays
(IEEE, 2020)
This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform ...