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Artículo
The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance
dc.creator | Ollero Baturone, Aníbal | es |
dc.creator | Heredia Benot, Guillermo | es |
dc.creator | Franchi, Antonio | es |
dc.creator | Martínez de Dios, José Ramiro | es |
dc.creator | Rodríguez Castaño, Ángel | es |
dc.date.accessioned | 2024-01-31T09:11:27Z | |
dc.date.available | 2024-01-31T09:11:27Z | |
dc.date.issued | 2018-12 | |
dc.identifier.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. | |
dc.identifier.issn | 1070-9932 | es |
dc.identifier.issn | 1558-223X | es |
dc.identifier.uri | https://hdl.handle.net/11441/154305 | |
dc.description.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 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. | es |
dc.format | application/pdf | es |
dc.format.extent | 12 p. | es |
dc.language.iso | eng | es |
dc.publisher | IEEE | es |
dc.relation.ispartof | IEEE Robotics & Automation Magazine, 25 (4), 12-23. | |
dc.title | The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance | es |
dc.type | info:eu-repo/semantics/article | es |
dc.type.version | info:eu-repo/semantics/acceptedVersion | 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 | 644271 | es |
dc.relation.publisherversion | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8435987 | es |
dc.identifier.doi | 10.1109/MRA.2018.2852789 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | IEEE Robotics & Automation Magazine | es |
dc.publication.volumen | 25 | es |
dc.publication.issue | 4 | es |
dc.publication.initialPage | 12 | es |
dc.publication.endPage | 23 | es |
dc.contributor.funder | European Commission (EC) | es |
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