Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction

Salua Hamaza, Ioannis Georgilas, Thomas S. Richardson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)
87 Downloads (Pure)

Abstract

As roles for unmanned aerial vehicles (UAVs)continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptively compliant actuator which will allow a UAV to carry out such tasks as the 'pick and placement' of remote sensors, structural testing and contact-based inspection. Three key results are discussed and presented; the ability to physically apply forces with the UAV through the use of an active compliant manipulator; the ability to tailor these forces through tuning of the manipulator controller gains; and the ability to apply a rapid series of physical pulses in order to excite remotely placed sensors, e.g. vibration sensors. A series of over sixty flight tests have been used to generate initial results which clearly demonstrate the potential of this new type of compliant aerial actuator.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
PublisherIEEE
Pages7448-7453
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 27 Dec 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) - Madrid, Spain
Duration: 1 Oct 20185 Oct 2018

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
Abbreviated titleIROS
CountrySpain
CityMadrid
Period1/10/185/10/18

Fingerprint

Unmanned aerial vehicles (UAV)
Manipulators
Antennas
Sensors
Actuators
Tuning
Inspection
Controllers
Testing
Compliance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. S. (2018). Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) (pp. 7448-7453). [8593576] IEEE. https://doi.org/10.1109/IROS.2018.8593576

Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction. / Hamaza, Salua; Georgilas, Ioannis; Richardson, Thomas S.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE, 2018. p. 7448-7453 8593576.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Hamaza, S, Georgilas, I & Richardson, TS 2018, Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)., 8593576, IEEE, pp. 7448-7453, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593576
Hamaza S, Georgilas I, Richardson TS. Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE. 2018. p. 7448-7453. 8593576 https://doi.org/10.1109/IROS.2018.8593576
Hamaza, Salua ; Georgilas, Ioannis ; Richardson, Thomas S. / Towards an Adaptive-Compliance Aerial Manipulator for Contact- Based Interaction. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). IEEE, 2018. pp. 7448-7453
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