dc.creator | Suárez Fernández-Miranda, Alejandro | es |
dc.creator | Grau, Pedro | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2022-02-11T18:48:11Z | |
dc.date.available | 2022-02-11T18:48:11Z | |
dc.date.issued | 2020-07 | |
dc.identifier.citation | Suárez Fernández-Miranda, A., Grau, P., Heredia Benot, G. y Ollero Baturone, A. (2020). Winged Aerial Manipulation Robot with Dual Arm and Tail. Applied Sciences, 10 (14). Article number 4783. | |
dc.identifier.issn | EISSN 2076-3417 | es |
dc.identifier.uri | https://hdl.handle.net/11441/129895 | |
dc.description.abstract | This paper presents the design and development of a winged aerial robot with bimanual
manipulation capabilities, motivated by the current limitations of aerial manipulators based on
multirotor platforms in terms of safety and range/endurance. Since the combination of gliding
and flapping wings is more energy e cient in forward flight, we propose a new morphology that
exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot
has landed or perched. The paper describes the design, development, and aerodynamic analysis
of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for
manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that
acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can
be used to control the surface area and orientation and thus the aerodynamic wrenches induced over
the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart
servo actuators and a similar frame structure, allowing the generation of di erent flapping patterns
exploiting the embedded servo controller. Experimental and simulation results carried out with these
two prototypes evaluate the manipulation capability and the possibility of gliding and flying. | es |
dc.description.sponsorship | Unión Europea Acción 788247 | es |
dc.description.sponsorship | Unión Europea H2020-2019-871479 | es |
dc.description.sponsorship | Ministerio de Economia, Industria y Competitividad DPI2017-89790-R | es |
dc.description.sponsorship | Ministerio de Economia, Industria y Competitividad RTI2018-102224-B-I00 | es |
dc.format | application/pdf | es |
dc.format.extent | 19 p. | es |
dc.language.iso | eng | es |
dc.publisher | MDPI | es |
dc.relation.ispartof | Applied Sciences, 10 (14). Article number 4783. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Winged aerial manipulation robot | es |
dc.subject | Dual arm | es |
dc.subject | Aerodynamics | es |
dc.subject | Gliding | es |
dc.title | Winged Aerial Manipulation Robot with Dual Arm and Tail | 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 | Acción 788247 | es |
dc.relation.projectID | H2020-2019-871479 | es |
dc.relation.projectID | DPI2017-89790-R | es |
dc.relation.projectID | RTI2018-102224-B-I00 | es |
dc.relation.publisherversion | https://doi.org/10.3390/app10144783 | es |
dc.identifier.doi | 10.3390/app10144783 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Applied Sciences | es |
dc.publication.volumen | 10 | es |
dc.publication.issue | 14 | es |
dc.publication.initialPage | Article number 4783 | es |
dc.contributor.funder | European Research Council (ERC) | es |
dc.contributor.funder | European Union (UE) | es |
dc.contributor.funder | Ministerio de Economia, Industria y Competitividad (MINECO). España | es |