Abstract
We proposed a multi-propeller multifunction aerial robot (MMAR) that is composed of a quadrotor with two legs. The legs can increase the function of the robot. We found that the legs can increase the safety region of the robot during the landing. To study the safety problem, the dynamics of MMAR interacting with environment should be solved. On the basis of the interaction dynamics, this paper investigates the velocity constraint for safe landing of MMAR. The investigation begins from the kinematics and dynamics of MMAR in flight mode. Then the impact dynamics of MMAR during landing is developed. Furthermore, the landing safety problem is formulated by a series of constraint equations which can give a safety region of the velocity during landing. The safety region can give the safe velocity of the aerial robot before landing. Finally, simulation examples are presented using the proposed methodology. In the examples, a detailed safety region of a simulated MMAR is constructed and shown.
Similar content being viewed by others
References
Brogliato, B.: Nonsmooth mechanics model, dynamics and control. Springer (1996)
Cabecinhas, D., Naldi, R., Marconi, L., Silvestre, C., Cunha, R.: Robust take-off and landing for a quadrotor vehicle. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 1630–1635. Anchorage (2010)
Ding, X., Yu, Y.: Motion planning and stabilization control of a multi-propeller multifunction aerial robot. IEEE/ASME Trans. Mechatronics 18(2), 645–656 (2013)
Ghadiok, V.: Autonomous aerial manipulations using a quadrotor. Master’s thesis, Utah State University, Logan (2011)
Ghadiok, V., Goldin, J., Ren, W.: Autonomous indoor aerial gripping using a quadrotor. In: Proceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 4645–4651. San Francisco (2011)
Gillula, J.H., Huang, H., Vitus, M.P., Tomlin, C.J.: Design of guaranteed safe maneuvers using reachable sets: Autonomous quadrotor aerobatics in theory and practice. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 1649–1654. Anchorage (2010)
Hehn, M., D’Andrea, R.: A flying inverted pendulum. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 763–770. Shanghai (2011)
Hugel, V., Hackert, R., Abourachid, A.: Kinematic modeling of bird locomotion from experimental data.IEEE Trans. Robot. 27(2), 185–200 (2011)
Hurmuzlu, Y.: Dynamics of biped gait: Part i - objective functions and contact event of a planar five-link biped. J. Appl. Mech. 60(2), 331–336 (1993)
Jimenez-Cano, A., Martin, J., Heredia, G., Ollero, A., Cano, R.: Control of an aerial robot with multi-link arm for assembly tasks. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 4916–4921. Karlsruhe (2013)
Kobilarov, M.: Trajectory control of a class of articulated aerial robots. In: Proceedings International Conference on Unmanned Aircraft Systems, pp 958–965. Grand Hyatt Atlanta, Atlanta (2013)
Korpela, C.M., Danko, T.W., Oh, P.Y.: Mm-uav: Mobile manipulating unmanned aerial vehicle. J. Intell. Robot. Syst. 65(1–4), 93–101 (2012)
Lupashin, S., Schollig, A., Sherback, M., D’Andrea, R.: A simple learning strategy for high-speed quadrocopter multi-flips. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 1642–1648.Anchorage (2010)
Mellinger, D., Lindsey, Q., Shomin, M., Kumar, V.: Design, modeling, estimation and control for aerial grasping and manipulation. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2668–2673. San Francisco (2011)
Mellinger, D., Michael, N., Shomin, M., Kumar, V.: Recent advances in quadrotor capabilities. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 2964–2965. Shanghai (2011)
Mellinger, D., Shomin, M., Michael, N., Kumar, V.: Cooperative grasping and transport using multiple quadrotors. In: International Symposium on Distributed Autonomous Robotic Systems. Lausanne, Switzerland (2010)
Michael, N., Fink, J., Kumar, V.: Cooperative manipulation and transportation with aerial robots. Auton. Robot. 30(1), 73–86 (2011)
Mu, X., Wu, Q.: A complete dynamic model of five-link bipedal walking. In: Proceedings American Control Conference, pp 4–6. Denver (2003)
Muller, M., Lupashin, S., D’Andrea, R.: Quadrocopter ball juggling. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 25–30.San Francisco (2011)
Orsag, M., Korpela, C., Pekala, M., Oh, P.: Stability control in aerial manipulation. In: Proceedings American Control Conference, pp 5581–5586. Washington (2013)
Orsag, M., Korpela, C.M., Bogdan, S., Oh, P.Y.: Hybrid adaptive control for aerial manipulation. J. Intell. Robot. Syst. 73(1–4), 693–707 (2014)
Schollig, A., Augugliaro, F., Lupashin, S., D’Andrea, R.: Synchronizing the motion of a quadrocopter to music. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 3355–3360.Anchorage (2010)
Selig, J.M.: Geometrical Methods in Robotics. Springer-Verlag (1996)
Tzafestas, S., Raibert, M., Tzafestas, C.: Robust sliding-mode control applied to a 5-link biped robot. J. Intell. Robot. Syst. 15, 67–133 (1996)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Yu, Y., Ding, X. Safe Landing Analysis of a Quadrotor Aircraft With Two Legs. J Intell Robot Syst 76, 527–537 (2014). https://doi.org/10.1007/s10846-014-0044-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10846-014-0044-7