Article
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
Author/s | Ollero Baturone, Aníbal
Heredia Benot, Guillermo Franchi, Antonio Martínez de Dios, José Ramiro Rodríguez Castaño, Ángel |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2018-12 |
Deposit Date | 2024-01-31 |
Published in |
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Abstract | T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection ... T his article summarizes new aerial robotic manipulation technologies and methods—aerial robotic manipulators with dual arms and multidirectional thrusters—developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M). Our report deals with -- the control systems, including the control of the interaction forces and the compliance -- the teleoperation, which uses passivity to tackle the tradeoff between stability and performance -- the perception methods for localization, mapping, and inspection -- the planning methods, including a new control-aware approach for aerial manipulation. Finally, we describe a novel industrial platform with multidirectional thrusters and a new arm design to increase the robustness in industrial contact inspections. In addition, the lessons learned in applying the platform to outdoor aerial manipulation for I&M are pointed out. |
Funding agencies | European Commission (EC) |
Project ID. | 644271 |
Citation | Ollero Baturone, A., Heredia Benot, G., Franchi, A., Martínez de Dios, J.R. y Rodríguez Castaño, Á. (2018). The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance. IEEE Robotics & Automation Magazine, 25 (4), 12-23. https://doi.org/10.1109/MRA.2018.2852789. |
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