dc.creator | Suárez Fernández-Miranda, Alejandro | es |
dc.creator | Real Pérez, Francisco Javier | es |
dc.creator | Vega, Víctor | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Rodríguez Castaño, Ángel | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2021-06-25T18:46:14Z | |
dc.date.available | 2021-06-25T18:46:14Z | |
dc.date.issued | 2020 | |
dc.identifier.citation | Suárez Fernández-Miranda, A., Real Pérez, F.J., Vega, V., Heredia Benot, G., Rodríguez Castaño, Á. y Ollero Baturone, A. (2020). Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations. IEEE Access, 8, 888844-88865. | |
dc.identifier.issn | 2169-3536 | es |
dc.identifier.uri | https://hdl.handle.net/11441/114875 | |
dc.description.abstract | The ability of aerial manipulation robots to reach and operate in high altitude workspaces may
result of interest in a wide variety of applications and scenarios that nowadays cannot be accessed easily by
human operators. Consider for example the installation of sensors in polluted areas, the insulation of leaks in
pipe structures, or the corrosion repair in power lines and wind turbines. This paper describes the application
of a human-like dual arm aerial manipulator for the inspection of pipe structures, typical of chemical plants,
involving the installation and retrieval of sensor devices. The goal is to reduce the time, cost, and risk with
respect to conventional solutions conducted by human workers. Two con gurations of the aerial robot are
considered and compared: the standard, in which the arms are installed at the base of the multirotor, and the
long reach con guration in passive pendulum, which extends the effective workspace of the manipulator and
increases safety during the operation on ight. The kinematic and dynamic models of both con gurations are
derived, proposing a uni ed notation for the equations of motion, and a force/position control scheme that
relies on the servo controller and the mechanical joint compliance. The paper also describes a simulation
framework used for validating the execution of the aerial manipulation task before the realization of the
real experiments, which contributes to reducing the probability of failure. The potential application of the
standard and long reach con gurations is evaluated in two sensor installation tasks carried out in an indoor
testbed | es |
dc.description.sponsorship | Unión Europea (Proyecto AERIAL-CORE) H2020-2019-871479 | es |
dc.description.sponsorship | Unión Europea (GRIFFIN) 788247 | es |
dc.description.sponsorship | ARM-EXTEND DPI2017-89790-R | es |
dc.description.sponsorship | Ministerio de Economía, Industria, y Competitividad (ARTIC) RTI2018-102224-B-I00 | es |
dc.format | application/pdf | es |
dc.format.extent | 22 p. | es |
dc.language.iso | eng | es |
dc.publisher | IEEE | es |
dc.relation.ispartof | IEEE Access, 8, 888844-88865. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Aerial manipulation | es |
dc.subject | Compliance | es |
dc.subject | Long reach | es |
dc.subject | Force control | es |
dc.title | Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | H2020-2019-871479 | es |
dc.relation.projectID | 788247 | es |
dc.relation.projectID | DPI2017-89790-R | es |
dc.relation.projectID | RTI2018-102224-B-I00 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9088973 | es |
dc.identifier.doi | 10.1109/ACCESS.2020.2993101 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | IEEE Access | es |
dc.publication.volumen | 8 | es |
dc.publication.initialPage | 888844 | es |
dc.publication.endPage | 88865 | es |
dc.contributor.funder | European Commission (EC) | es |
dc.contributor.funder | European Research Council (ERC) | es |
dc.contributor.funder | Ministerio de Economia, Industria y Competitividad (MINECO). España | es |