Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator
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Date
2023
Publication Type
Conference Paper
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yes
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Abstract
This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be fully-actuated in the body forward direction. This allows independent pitching and instantaneous force generation, improving the platform's performance during physical interaction. The robotic arm is an origami delta manipulator driven by three servomotors, enabling active motion compensation at the end-effector. Its composite multimaterial links help reduce the weight, while their flexibility allow for compliant aerial interaction with the environment. In particular, the arm's stiffness can be changed according to its configuration. We provide an in depth discussion of the system design and characterize the stiffness of the delta arm. A control architecture to deal with the platform's overactuation while exploiting the delta arm is presented. Its capabilities are experimentally illustrated both in free flight and physical interaction, highlighting advantages and disadvantages of the origami's folding mechanism.
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published
Editor
Book title
2023 IEEE International Conference on Robotics and Automation (ICRA)
Journal / series
Volume
Pages / Article No.
5352 - 5358
Publisher
IEEE
Event
40th IEEE International Conference on Robotics and Automation (ICRA 2023)
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Methods
Software
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Date created
Subject
Organisational unit
09718 - Mintchev, Stefano (ehemalig) / Mintchev, Stefano (former)
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
Notes
Funding
953454 - AErial RObotic TRAINing for developing the next generation of European infrastructure and asset maintenance technologies (EC)
186865 - CYbER - CanopY Exploration Robots (SNF)
186865 - CYbER - CanopY Exploration Robots (SNF)