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1. Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces

Author

Davide Bicego, Wusheng Chou, Stefano Stramigioli, Ramy Rashad, Ran Jiao, Digital Society Institute, and Robotics and Mechatronics

Subjects
Lyapunov stability, Observer (quantum physics), Computer science, business.industry, 3D force, Mechanical Engineering, Stability (learning theory), Robotics, Aerial physical interaction, Unmanned aerial vehicles, Industrial and Manufacturing Engineering, law.invention, Computer Science::Robotics, Impedance control, Artificial Intelligence, Control and Systems Engineering, law, Control theory, State observer, Artificial intelligence, Electrical and Electronic Engineering, Wrench, business, Software, Sliding-mode observer
Abstract

Aerial physical interaction is a promising field for unmanned aerial vehicles in future applications. This paper presents a novel paradigm for automatic aerial contact-based sliding interaction (inspection/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied on generic surfaces with unknown geometry. The interaction task is achieved by a fully-actuated hexarotor equipped with a rigidly attached end-effector under a passivity-based geometric impedance controller and a new sliding-mode extended state observer to estimate the interaction wrench. In order to increase the observer performance and reduce the estimation chattering phenomenon, the observer is innovatively incorporated with a super-twisting algorithm and a sigmoid function with a switching gain being adaptively updated by a fuzzy logic system. A detailed stability analysis for the observer is presented based on the Lyapunov stability theory. The proposed control approach is validated in several simulations in which we try to accomplish the aerial physical sliding interaction task with different types of objects under various sliding speeds.

Published
2021

2. FAST-Hex -A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation

Author

Davide Bicego, Markus Ryll, Antonio Franchi, Marco Lovera, Mattia Giurato, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Technical University of Munich (TUM), University of Twente, Robotics and Mechatronics (RaM) group (RaM), Politecnico di Milano [Milan] (POLIMI), Digital Society Institute, Robotics and Mechatronics, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Technische Universität Munchen - Université Technique de Munich [Munich, Allemagne] (TUM)

Subjects
FOS: Computer and information sciences, Computer science, 0206 medical engineering, Grippers, Motion controller, 02 engineering and technology, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Unmanned aerial vehicles, Hysteresis motors, 03 medical and health sciences, Computer Science - Robotics, 0302 clinical medicine, Poles and towers, Control theory, Position (vector), FOS: Electrical engineering, electronic engineering, information engineering, State space, Prototypes, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 22/1 OA procedure, Electrical and Electronic Engineering, Orientation (computer vision), Motion control, 020601 biomedical engineering, Computer Science Applications, Propellers, Morphing, Control and Systems Engineering, Trajectory, Actuator, Robotics (cs.RO), 030217 neurology & neurosurgery, Structural rings
Abstract

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multi-rotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in $\mathbb{R}^3\times \mathrm{SO}(3)$ (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally we present a large set of experimental results shading light on all aspects of the control and pose tracking of FAST-Hex.

Published
2021
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3. Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

Author

Davide Bicego, Jacopo Mazzetto, Antonio Franchi, Marcello Farina, Ruggero Carli, Faculty of Electrical Engineering, Mathematics and Computer Science [Twente] (EEMCS), University of Twente [Netherlands], University of Twente, Robotics and Mechatronics (RaM) group (RaM), Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Department of Information Engineering [Padova] (DEI), Universita degli Studi di Padova, POLITECNICO DI MILANO DIPARTIMENTO DI ELECTRONICA E INFORMAZIONE ITA, Partenaires IRSTEA, Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA)-Institut national de recherche en sciences et technologies pour l'environnement et l'agriculture (IRSTEA), Robotics and Mechatronics, Digital Society Institute, University of Twente, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Università degli Studi di Padova = University of Padua (Unipd), and Politecnico di Milano [Milan] (POLIMI)

Subjects
FOS: Computer and information sciences, 0209 industrial biotechnology, Optimization problem, aerialcore, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], UT-Hybrid-D, 02 engineering and technology, Systems and Control (eess.SY), Dynamical Systems (math.DS), Electrical Engineering and Systems Science - Systems and Control, Industrial and Manufacturing Engineering, Computer Science - Robotics, Multi-Directional Thrust, 020901 industrial engineering & automation, 0203 mechanical engineering, AUT, Artificial Intelligence, Robustness (computer science), Control theory, FOS: Electrical engineering, electronic engineering, information engineering, FOS: Mathematics, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Actuator constraints, Model predictive control, Multi-directional thrust, Multi-rotor aerial vehicles, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Mathematics - Dynamical Systems, Mathematics - Optimization and Control, Model Predictive Control, 020301 aerospace & aeronautics, Mechanical Engineering, Linear model, Rigid body, Control and Systems Engineering, Optimization and Control (math.OC), Control system, Multi-Rotor Aerial Vehicles, Robot, Actuator Constraints, Actuator, Robotics (cs.RO), Software
Abstract

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference trajectory planning and tracking problems. This work brings into question some common modeling and control design choices that are typically adopted to guarantee robustness and reliability but which may severely limit the attainable performance. Unlike most of state of the art works, the proposed method takes advantages of a unified nonlinear model which aims to describe the whole robot dynamics by explicitly including a realistic physical description of the actuator dynamics and limitations. As a matter of fact, our solution does not resort to common simplifications such as: 1) linear model approximation, 2) cascaded control paradigm used to decouple the translational and the rotational dynamics of the rigid body, 3) use of low-level reactive trackers for the stabilization of the internal loop, and 4) unconstrained optimization resolution or use of fictitious constraints. More in detail, we consider as control inputs the derivatives of the propeller forces and propose a novel method to suitably identify the actuator limitations by leveraging experimental data. Differently from previous approaches, the constraints of the optimization problem are defined only by the real physics of the actuators, avoiding conservative -- and often not physical -- input/state saturations which are present, e.g., in cascaded approaches. The control algorithm is implemented using a state-of-the-art Real Time Iteration (RTI) scheme with partial sensitivity update method. CONTINUES..., Comment: cs.RO cs.SY math.OC math.DS

Published
2020
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4. Perception-constrained and Motor-level Nonlinear MPC for both Underactuated and Tilted-propeller UAVS

Author

Martin Jacquet, Gianluca Corsini, Antonio Franchi, Davide Bicego, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Faculty of Electrical Engineering, Mathematics and Computer Science [Twente] (EEMCS), University of Twente [Netherlands], Robotics and Mechatronics, Digital Society Institute, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and University of Twente

Subjects
0209 industrial biotechnology, 021103 operations research, Computer science, Underactuation, Rotor (electric), aerialcore, 0211 other engineering and technologies, Propeller, 22/2 OA procedure, 02 engineering and technology, murophen, law.invention, Model predictive control, Nonlinear system, 020901 industrial engineering & automation, Control theory, law, [INFO.INFO-TI]Computer Science [cs]/Image Processing [eess.IV], Trajectory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Actuator, Equations for a falling body, flyingcoworker
Abstract

International audience; In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maximum speeds and accelerations. The formulation is meant to be generic and considers a large range of multi-rotor platforms (such as underactuated quadrotors or tilted-propellers hexarotors) since it does not rely on differential flatness for the dynamical equations, and a broad range of sensors, such as cameras, lidars, etc... The perceptive constraints are expressed to maintain visibility of a feature point in the sensor's field of view, while performing a reference maneuver. We demonstrate both in simulation and real experiments that our framework is able to exploit the full capabilities of the multi-rotor, to achieve the motion under the aforementioned constraints, and control in real-time the platform at a motor-torque level, avoiding the use of an intermediate unconstrained trajectory tracker.

Published
2020
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5. A Truly Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants

Author

Anthony Mallet, Bernard Revaz, Hermes Amadeus Tello Chavez, Antonio Franchi, Marco Tognon, Davide Bicego, Quentin Sable, Marc Lany, Gilles Santi, Enrico Gasparin, Juan Cortés, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), SENSIMA INSPECTION, Service Informatique : Développement, Exploitation et Assistance (LAAS-IDEA), European Project: 644271,H2020,H2020-ICT-2014-1,AEROARMS(2015), Équipe Robotique et InteractionS ( LAAS-RIS ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ) -Centre National de la Recherche Scientifique ( CNRS ) -Université Toulouse III - Paul Sabatier ( UPS ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Institut National Polytechnique [Toulouse] ( INP ), Service Informatique : Développement, Exploitation et Assistance ( LAAS-IDEA ), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
0209 industrial biotechnology, Control and Optimization, Computer science, Biomedical Engineering, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, PID controller, ComputerApplications_COMPUTERSINOTHERSYSTEMS, 02 engineering and technology, Workspace, law.invention, Manipulator system, 020901 industrial engineering & automation, Exponential stability, Artificial Intelligence, Control theory, law, 0202 electrical engineering, electronic engineering, information engineering, Eddy current, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Motion planning, Manipulator, ComputingMethodologies_COMPUTERGRAPHICS, Mechanical Engineering, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Control engineering, Motion control, Computer Science Applications, Human-Computer Interaction, Control and Systems Engineering, [ INFO.INFO-SY ] Computer Science [cs]/Systems and Control [cs.SY], 020201 artificial intelligence & image processing, Computer Vision and Pattern Recognition, Multirotor
Abstract

We present the design, control and motion planning of an aerial manipulator for a non-trivial physical interaction task, namely pushing while sliding on curved surfaces. The proposed robotic system is motivated by the increasing interest on autonomous Non-Destructive Tests used for the integrity assessment of industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle to enhance physical interaction capabilities, endowed with a 2-DoFs lightweight arm to enlarge its workspace. This combination constitutes a truly redundant manipulator that goes beyond standard aerial manipulators with collinear multirotors. The robot controller is based on a PID method with 'displaced' positional part inspired by controllers for manipulators with elastic joints and grounded on several experimental trial-and-error tests. In this work we experimentally show that the proposed aerial manipulator system, equipped with an Eddy Current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the acquired data, a weld on the pipe is successfully detected and mapped.

Published
2019
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6. Energy-Efficient Trajectory Generation for a Hexarotor with Dual-Tilting Propellers

Author

Antonio Franchi, Fabio Morbidi, Markus Ryll, Davide Bicego, Modélisation, Information et Systèmes - UR UPJV 4290 (MIS), Université de Picardie Jules Verne (UPJV), Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, European Project: 644271,H2020,H2020-ICT-2014-1,AEROARMS(2015), Robotics and Mechatronics, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
020301 aerospace & aeronautics, 0209 industrial biotechnology, aerial robots, multi-rotor UAV, Underactuation, Computer science, Propeller, Boundary (topology), 02 engineering and technology, Optimal control, optimal control, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Trajectory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Gravitational singularity, [MATH.MATH-OC]Mathematics [math]/Optimization and Control [math.OC], Efficient energy use
Abstract

International audience; In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously tilted about two orthogonal axes: in this way, its underactuation degree can be easily adapted to the task at hand. For a given tilt profile, the minimum-energy trajectory between two prescribed boundary states is explicitly determined by solving an optimal control problem with respect to the angular accelerations of the six brushless motors. We also perform, for the first time, a systematic study of the singularities of the control allocation matrix of the hexarotor, showing the presence of subtle singular configurations that should be carefully avoided in the design phase. Numerical experiments conducted with the FAST-Hex platform illustrate the theory and delineate the pros and cons of dual-tilting paradigm in terms of maneuverability and energy efficiency.

Published
2018
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7. Design and Input Allocation for Robots with Saturated Inputs via Genetic Algorithms

Author

Antonio Franchi, Michele Furci, Davide Bicego, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Computer science, fully actuated/vectored-thrust aerial vehicles, 02 engineering and technology, [INFO.INFO-NE]Computer Science [cs]/Neural and Evolutionary Computing [cs.NE], input allocation, genetic algorithms, Computer Science::Robotics, 020901 industrial engineering & automation, Position (vector), Control theory, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer Science::Databases, Orientation (computer vision), 05 social sciences, Propeller, Control reconfiguration, Function (mathematics), Energy consumption, Control and Systems Engineering, Trajectory, Robot, 0509 other social sciences, 050904 information & library sciences, Actuator
Abstract

International audience; In this paper we consider fully-actuated and redundantly-actuated robots, whose saturated inputs can have high bandwidth or can be slowly varying (with dynamics). The slowly varying inputs can be considered as configurations for the system. The proposed strategy allows to find the optimal actuators' configuration to optimize a cost function as the manipulability or the energy consumption. The approach allows for both a static design, which can include actuators' parameters such as position, orientation, saturations, numbers of actuators, and for a dynamic design, where the configurations can be controlled by an input of the system. A generalized solution to the optimal problem is proposed with the use of genetic algorithms. The results are validated in two simulation scenarios: a reconfiguration of the actuators orientation of an redundantly-actuated planar robot for trajectory tracking and the design optimization of the orientation of the motors in a generalized hexa-rotor with arbitrary propeller orientation.

Published
2018

8. A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base

Author

Markus Ryll, Antonio Franchi, Davide Bicego, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
0209 industrial biotechnology, Robot kinematics, Computer science, 010401 analytical chemistry, Thrust, 02 engineering and technology, 01 natural sciences, 0104 chemical sciences, 020901 industrial engineering & automation, Redundant manipulators, Control and Systems Engineering, Robustness (computer science), Control theory, Multi directional, Trajectory, Unmanned aerial robots, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Feedback linearization, Manipulator, Gradient method
Abstract

International audience; We present a novel aerial manipulator concept composed of a fully actuated hexarotor aerial vehicle and an n degree of freedom manipulator. Aiming at interaction tasks, we present a trajectory following control framework for the end-effector of the manipulator. The system is modeled in Euler-Lagrangian formalism and in Denavit-Hartenberg form. Benefiting from the redundancy of the system, we present several cost function strategies based on the projected gradient method to optimize the aerial manipulator behavior. The control framework is based on exact feedback linearization. In an advanced simulation section, we thoroughly present the robustness of the system and its limits in two typical configuration constituted by an 8 and a 10 degrees of freedom redundant aerial manipulator.

Published
2018

9. Towards a Flying Assistant Paradigm: the OTHex

Author

Nicolas Staub, Victor Arellano, Quentin Sable, Davide Bicego, Antonio Franchi, Subodh Mishra, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0301 basic medicine, 0209 industrial biotechnology, Computer science, Propeller, Thrust, Control engineering, 02 engineering and technology, law.invention, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], 03 medical and health sciences, 030104 developmental biology, 020901 industrial engineering & automation, Control theory, Filter (video), law, Robustness (computer science), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, Trajectory, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Wrench, Generator (mathematics)
Abstract

International audience; This paper presents the OTHex platform for aerial manipulation developed at LAAS–CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.

Published
2018

10. Towards Robotic MAGMaS: Multiple Aerial-Ground Manipulator Systems

Author

Nicolas Staub, Davide Bicego, Domenico Prattichizzo, Antonio Franchi, Mostafa Mohammadi, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), SIRSlab, Department of Advanced Robotics (IIT), Istituto Italiano di Tecnologia (IIT), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), and Université Fédérale Toulouse Midi-Pyrénées

Subjects
0209 industrial biotechnology, Engineering, Robot kinematics, Mobile manipulator, business.industry, Control engineering, 02 engineering and technology, Workspace, Nonlinear control, Ellipsoid, Computer Science::Robotics, 020901 industrial engineering & automation, Control theory, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Torque, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, business
Abstract

International audience; In this paper we lay the foundation of the first heterogeneous multi-robot system of the Multiple Aerial-Ground Manipulator System (MAGMaS) type. A MAGMaS consists of a ground manipulator and a team of aerial robots equipped with a simple gripper manipulator the same object. The idea is to benefit from the advantages of both kinds of platforms, i.e., physical strength versus large workspace. The dynamic model of such robotic systems is derived, and its characteristic structure exhibited. Based on the dynamical structure of the system a nonlinear control scheme, augmented with a disturbance observer is proposed to perform trajectory tracking tasks in presence of model inaccuracies and external disturbances. The system redundancy is exploited by solving an optimal force/torque allocation problem that takes into account the heterogeneous system constraints and maximizes the force manipulability ellipsoid. Simulation results validated the proposed control scheme for this novel heterogeneous robotic system. We finally present a prototypical mechanical design and preliminary experimental evaluation of a MAGMaS composed by a kuka LWR4 and quadrotor based aerial robot.

Published
2017

11. Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force

Author

Ruggero Carli, Antonio Franchi, Davide Bicego, Markus Ryll, Équipe Robotique et InteractionS ( LAAS-RIS ), Laboratoire d'analyse et d'architecture des systèmes [Toulouse] ( LAAS ), Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ) -Institut National Polytechnique [Toulouse] ( INP ) -Institut National des Sciences Appliquées - Toulouse ( INSA Toulouse ), Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Université Paul Sabatier - Toulouse 3 ( UPS ) -Centre National de la Recherche Scientifique ( CNRS ), Dipartimento di Ingegneria de l'Informazione [Padova] ( DEI ), Universita degli Studi di Padova = University of Padua = Université de Padoue, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Dipartimento di Ingegneria de l'Informazione [Padova] (DEI), Universita degli Studi di Padova, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT), and Università degli Studi di Padova = University of Padua (Unipd)

Subjects
Lyapunov function, FOS: Computer and information sciences, 0209 industrial biotechnology, Aerospace control, nonlinear control systems, robot control, unmanned aerial vehicles, Computer science, Aerospace control, Thrust, 02 engineering and technology, Systems and Control (eess.SY), Dynamical Systems (math.DS), Tracking (particle physics), nonlinear control systems, symbols.namesake, Computer Science - Robotics, 020901 industrial engineering & automation, Control theory, Orientation (geometry), [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering, [ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering, 0202 electrical engineering, electronic engineering, information engineering, FOS: Mathematics, FOS: Electrical engineering, electronic engineering, information engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Mathematics - Dynamical Systems, Mathematics - Optimization and Control, robot control, Underactuation, [ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO], Computer Science Applications, Robot control, Control and Systems Engineering, Optimization and Control (math.OC), Bounded function, symbols, Trajectory, Computer Science - Systems and Control, 020201 artificial intelligence & image processing, unmanned aerial vehicles, Robotics (cs.RO)
Abstract

In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates well platforms endowed with non-coplanar/non-collinear rotors that can use the tilted propellers to slightly change the orientation of the total thrust w.r.t. the body frame. For this broad class of systems, we introduce a new geometric control strategy in SE(3) to achieve, whenever made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The exponential tracking of a feasible full-pose reference trajectory is proven using a Lyapunov technique in SE(3). The method can deal seamlessly with both under- and fully-actuated LBF platforms. The controller guarantees the tracking of at least the positional part in the case that an unfeasible full-pose reference trajectory is provided. The paper provides several experimental tests clearly showing the practicability of the approach and the sharp improvement with respect to state of-the-art approaches.

Published
2016
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12. Modeling and control of FAST-Hex: A fully-actuated by synchronized-tilting hexarotor

Author

Davide Bicego, Markus Ryll, Antonio Franchi, Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), and Université de Toulouse (UT)

Subjects
0209 industrial biotechnology, Engineering, business.industry, Underactuation, Propeller, Control engineering, 02 engineering and technology, Solid modeling, Synchronization, Inverse dynamics, 020901 industrial engineering & automation, Control theory, Orientation (geometry), 0202 electrical engineering, electronic engineering, information engineering, Trajectory, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, business
Abstract

Accepted for the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, Oct. 2016; International audience; We present FAST-Hex, a novel UAV concept which is able to smoothly change its configuration from underactuated to fully actuated by using only one additional motor that tilts all propellers at the same time. FAST-Hex can adapt to the task at hand by finely tuning its configuration from the efficient (but underactuated) flight (typical of coplanar multi– rotor platforms) to the full-pose-tracking (but less efficient) flight, which is attainable by non-coplanar multi-rotors. We also introduce a novel full-pose geometric controller for generic multi-rotors (not only the FAST-Hex) that outperforms classical inverse dynamics approaches. The controller receives as input any reference pose in R 3 ×SO(3) (3D position + 3D orientation). Exact tracking is achieved if the reference pose is feasible with respect to the propeller spinning rate saturations. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the positional part. The new controller is tested with the FAST-Hex but can be used for many other multi-rotor platforms: underactuated, slightly fully-actuated and completely fully-actuated.

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