Soliro - a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
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Author / Producer
Date
2024-08
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more degrees of freedom than a standard quadrotor. While there is active research of over-actuated, omnidirectional MAVs and aerial manipulators as well as VTOL and hybrid platforms, the two concepts have not been combined. We address the problem of conceptualization, characterization, control, and testing of a 5DOF rotary-/fixed-wing hybrid, tilt-rotor, split tilt-wing, nearly omnidirectional aerial robot. We present an elegant solution with a minimal set of actuators and that does not need any classical control surfaces or flaps. The concept is validated in a wind tunnel study and in multiple flights with forward and backward transitions. Fixed-wing flight speeds up to 10 m/s were reached, with a power reduction of 30% as compared to rotary wing flight.
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Publication status
published
External links
Book title
Experimental Robotics. ISER 2023
Journal / series
Volume
30
Pages / Article No.
405 - 414
Publisher
Springer
Event
18th International Symposium on Experimental Robotics (ISER 2023)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Aerial robotics
Organisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
Notes
Conference lecture held on November 29, 2023