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Transformable Multirotor with Two-Dimensional Multilinks: Modeling, Control, and Whole-Body Aerial Manipulation

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2016 International Symposium on Experimental Robotics (ISER 2016)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

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Abstract

In this paper, we introduce a novel type of the multirotor aerial vehicle with two-dimensional multilinks which enables the stable aerial transformation for high mobility in three-dimensional environments. Our goal is to hold and carry object by using the whole-body manipulation in the air. The research involved three steps. First, we developed the modeling of the link modules that compose a multirotor with two-dimensional multilinks and conducted a quadrotor prototype. Second, we derived a stable flight control method for aerial transformation on the basis of linear-quadratic-integral optimal control. Third, we investigated the whole-body aerial manipulation based on the enveloping grasping method for the four-link type which takes the additional inertial parameters and joint torque into account. Successful aerial transformation and manipulation with the quadrotor prototype were demonstrated, confirming the feasibility of our proposed transformable multirotor for aerial maneuvering.

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Authors and Affiliations

  1. JSK Lab Engineering Building 2, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan

    Moju Zhao, Koji Kawasaki, Xiangyu Chen, Yohei Kakiuchi, Kei Okada & Masayuki Inaba

Authors
  1. Moju Zhao
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  2. Koji Kawasaki
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  3. Xiangyu Chen
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  4. Yohei Kakiuchi
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  5. Kei Okada
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  6. Masayuki Inaba
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Corresponding author

Correspondence to Moju Zhao .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Zhao, M., Kawasaki, K., Chen, X., Kakiuchi, Y., Okada, K., Inaba, M. (2017). Transformable Multirotor with Two-Dimensional Multilinks: Modeling, Control, and Whole-Body Aerial Manipulation. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_45

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_45

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-50114-7

  • Online ISBN: 978-3-319-50115-4

  • eBook Packages: EngineeringEngineering (R0)

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