Abstract
In this paper, we present the achievement of aerial manipulation and grasping by a novel multilinked aerial robot called DRAGON, in which a pair of rotors is embedded in each link. First, the unique mechanical design of this robot is briefly introduced. The key to performing stable manipulation and grasping is the two degrees-of-freedom rotor vectoring apparatus. Second, the autonomous flight control framework is presented, which is followed by the derivation of the external wrench compensation during interaction with an environment or object. Third, on the basis of external wrench compensation, the motion planning methods involving the optimization problem are presented for different cases: single end-effector manipulation and two-point (i.e., the ends) grasping. Finally, we show the experimental motion results for the movement of a rectangle plate by contact with different parts of the plate, as well as the grasping of different objects by the two ends of the robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Kumar, V., Michael, N.: Opportunities and challenges with autonomous micro aerial vehicles. Int. J. Robot. Res. 31(11), 1279–1291 (2012)
Mellinger, D., Michael, N., Kumar, V.: Trajectory generation and control for precise aggressive maneuvers with quadrotors. Int. J. Robot. Res. 31(5), 664–674 (2012)
Michael, N., et al.: Collaborative mapping of an earthquake-damaged building via ground and aerial robots. J. Field Robot. 29, 832–841 (2012)
Ozaslan, T., et al.: Autonomous navigation and mapping for inspection of penstocks and tunnels with MAVs. IEEE Robot. Autom. Lett. 2(3), 1740–1747 (2017)
Loianno, G., Brunner, C., McGrath, G., Kumar, V.: Estimation, control, and planning for aggressive flight with a small quadrotor with a single camera and IMU. IEEE Robot. Autom. Lett. 2(2), 404–411 (2017)
Falanga, D., et al.: Aggressive quadrotor flight through narrow gaps with onboard sensing and computing using active vision. In: Proceedings of the 2017 IEEE International Conference on Robotics and Automation, pp. 5774–5781, May 2017
Kondak, K., et al.: Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator. In: Proceedings of the 2014 IEEE International Conference on Robotics and Automation, pp. 2107–2112, May 2014
Lippiello, V., et al.: Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robot. Autom. Lett. 1(1), 259–266 (2016)
Staub, N., Bicego, D., Sablé, Q., Arellano, V., Mishra, S., Franchi, A.: Towards a flying assistant paradigm: the OTHex. In: Proceedings of 2018 IEEE International Conference on Robotics and Automation, pp. 6997–7002, May 2018
Orsag, M., et al.: Dexterous aerial robots-mobile manipulation using unmanned aerial systems. IEEE Trans. Robot. 33(6), 1453–1466 (2017)
Kamel, M., et al.: The voliro omniorientational hexacopter: an agile and maneuverable tiltable-rotor aerial vehicle. IEEE Robot. Autom. Mag. 25(4), 34–44 (2018)
Brescianini, D., D’Andrea, R.: Design, modeling and control of an omni-directional aerial vehicle. In: Proceedings of 2016 IEEE International Conference on Robotics and Automation, pp. 3261–3266, May 2016
Park, S., et al.: ODAR: aerial manipulation platform enabling omnidirectional wrench generation. IEEE/ASME Trans. Mechatron. 23(4), 1907–1918 (2018)
Zhao, M., et al.: Design, modeling, and control of an aerial robot dragon: a dual-rotor-embedded multilink robot with the ability of multi-degree-of-freedom aerial transformation. IEEE Robot. Autom. Lett. 3(2), 1176–1183 (2018)
Zhao, M., et al.: Flight motion of passing through small opening by dragon: transformable multilinked aerial robot. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 2018
Endo, G., et al.: A proposal of super long reach articulated manipulator with gravity compensation using thrusters. In: Proceedings of 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 1414–1419, July 2018
Yang, H., Park, S., Lee, J., Ahn, J., Son, D., Lee, D.: LASDRA: large-size aerial skeleton system with distributed rotor actuation. In: Proceedings of 2018 IEEE International Conference on Robotics and Automation, pp. 7017–7023, May 2018
Zhao, M., et al.: Transformable multirotor with two-dimensional multilinks: modeling, control, and whole-body aerial manipulation. Int. J. Robot. Res. 37(9), 1085–1112 (2018)
Gabrich, B., et al.: A flying gripper based on cuboid modular robots. In: Proceedings of the 2018 IEEE International Conference on Robotics and Automation, pp. 7024–7030 (2018)
Falanga, D., et al.: The foldable drone: a morphing quadrotor that can squeeze and fly. IEEE Robot. Autom. Lett. 4(2), 209–216 (2019)
Shi, F., Zhao, M., Anzai, T., Chen, X., Okada, K., Inaba, M.: External wrench estimation for multilink aerial robot by center of mass estimator based on distributed IMU system. In: 2019 International Conference on Robotics and Automation (ICRA), pp. 1891–1897, May 2019
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
1 Electronic supplementary material
Below is the link to the electronic supplementary material.
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Zhao, M., Okada, K., Inaba, M. (2022). Aerial Manipulation and Grasping by the Versatile Multilinked Aerial Robot DRAGON. In: Asfour, T., Yoshida, E., Park, J., Christensen, H., Khatib, O. (eds) Robotics Research. ISRR 2019. Springer Proceedings in Advanced Robotics, vol 20. Springer, Cham. https://doi.org/10.1007/978-3-030-95459-8_21
Download citation
DOI: https://doi.org/10.1007/978-3-030-95459-8_21
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-95458-1
Online ISBN: 978-3-030-95459-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)