Paper Info
Title
Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot
Abstract
Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.Supplementary MaterialThis paper is accompanied by a experiment video: http://www.jsk.t.u-tokyo.ac.jp/%7eshifan/paper/iros19/video.mp4.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8967672
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords
Field
DocType
mild motion,nonlinear model predictive controller,linear controller,agile swing motion,transformable multilinks aerial robot,table tennis task,online agile manipulation task,aerial transformable multilink robot,transformable aerial robots,aerial manipulation tasks,HYRURS-X
Control theory,Computer science,Rigid body,Agile software development,Control engineering,Robot,Swing
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-7281-4005-6
1
PageRank 
References 
Authors
0.36
7
7
Name
Order
Citations
PageRank
Fan Shi15012.03
Moju Zhao2288.38
Tomoki Anzai3196.50
Keita Ito422.07
Xiangyu Chen5267.46
Kei Okada6534118.08
Masayuki Inaba72186410.27