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1. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Author

Mostafa Mohammadi, Davide Bicego, Antonio Franchi, Davide Barcelli, and Domenico Prattichizzo

Subjects
aerial robotics, aerial manipulation, force control, bilateral teleoperation, haptics, quadrotor, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999
Abstract

This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest.

Published
2021
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23. Three Fundamental Paradigms for Aerial Physical Interaction Using Nonlinear Model Predictive Control

Author

Ayham Alharbat, Hanieh Esmaeeli, Davide Bicego, Abeje Mersha, Antonio Franchi, and Robotics and Mechatronics

Subjects
22/4 OA procedure
Abstract

This paper introduces and compares the three most relevant approaches in which an Aerial Physical Interaction (APhI) control can include a Nonlinear Model Predictive Control (NMPC) paradigm in its design. All these methods have the advantage of being able to cope seamlessly with input and state constraints when compared to reactive controllers, however, they substantially differ in the design of the cost function. In the NMPC impedance control the cost function includes the error from the desired impedance dynamics; in the NMPC cascaded control the cost function includes the error from a reference trajectory which is generated online by an admittance filter driven by the force measurement; and in the NMPC hybrid position/force control the cost function contains both the trajectory and direct force error. The three architectures are proposed, implemented, analysed, validated, and compared with real-time simulations of interaction tasks with different environments. The numerical investigation provides a set of insights about the performances, advantages, and dependency on the design assumptions of the three methods.

Published
2022

24. A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Author

Andriy Dmytruk, Giuseppe Silano, Davide Bicego, Daniel Bonilla Licea, Martin Saska, and Robotics and Mechatronics

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, Multi-Rotor UAVs, Vision Based Navigation and Control, Robotics (cs.RO), Aerial Systems: Applications, Nonlinear MPC
Abstract

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB., Comment: 6 pages, 6 figures, conference

Published
2022
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26. 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

27. 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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28. Towards Vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV

Author

Ran Jiao, Stefano Stramigioli, Davide Bicego, Santiago Sanchez-Escalonilla, Ramy Rashad, Faculty of Electrical Engineering, Mathematics and Computer Science [Twente] (EEMCS), University of Twente [Netherlands], University of Twente, Robotics and Mechatronics (RaM) group (RaM), School of Mechanical Engineering and Automation, Beihang University, Beijing (Beihang University, SMEA), ITMO University [Russia], Digital Society Institute, and Robotics and Mechatronics

Subjects
0209 industrial biotechnology, Computer science, Vision-Based Impedance Control, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], Context (language use), 02 engineering and technology, law.invention, Computer graphics, 020901 industrial engineering & automation, law, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], Aerial Physical Interaction, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Projection (set theory), Contact-Based Inspection, business.industry, Robotics, Robot end effector, Aerial Robotics, Impedance control, Trajectory, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business
Abstract

International audience; The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected. Combining these results with previous work on energy-based interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor interacting with heterogeneous curved surfaces whose geometric description is not available a priori, provided that enough visual features on the target are naturally or artificially available to allow the integration of localization and mapping algorithms.

Published
2020
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29. Development of SAM: cable-Suspended Aerial Manipulator

Author

Antonio Franchi, Dzmitry Tsetserukou, Christian Ott, Min Jun Kim, Yuri S. Sarkisov, Konstantin Kondak, Davide Bicego, German Aerospace Center (DLR), 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, Skolkovo Institute of Science and Technology [Moscow] (Skoltech), DLR Institute of Robotics and Mechatronics, Deutsches Zentrum für Luft- und Raumfahrt [Oberpfaffenhofen-Wessling] (DLR), European Project: 644271,H2020,H2020-ICT-2014-1,AEROARMS(2015), 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
FOS: Computer and information sciences, 0209 industrial biotechnology, Computer science, Robot manipulator, 02 engineering and technology, Propulsion, law.invention, [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI], Computer Science - Robotics, Aerial manipulation, 020901 industrial engineering & automation, Analyse und Regelung komplexer Robotersysteme, law, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Manipulator, Winch, omnidirectional UAV, suspended UAV, Rotor (electric), 020208 electrical & electronic engineering, Propeller, Control engineering, Collision, SAM, Development (differential geometry), Realization (systems), Robotics (cs.RO), Aerial Manipulator
Abstract

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results., Accepted to International Conference on Robotics and Automation (ICRA) 2019, IEEE copyright, 7 pages, 14 figures

Published
2019

30. 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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31. 6D interaction control with aerial robots: The flying end-effector paradigm

Author

Francesco Pierri, Gianluca Antonelli, Markus Ryll, Giuseppe Muscio, Davide Bicego, Fabrizio Caccavale, Elisabetta Cataldi, Antonio Franchi, Computer Science and Artificial Intelligence Lab, MIT, Massachusetts Institute of Technology (MIT), University of Basilicata, School of Engineering, University of Cassino and Southern Lazio [Cassino], 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, Università degli studi della Basilicata [Potenza] (UNIBAS), 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, aerial manipulation, [MATH.MATH-DS]Mathematics [math]/Dynamical Systems [math.DS], 02 engineering and technology, aerial physical interaction, Aerial robotics, law.invention, Computer Science::Robotics, 020901 industrial engineering & automation, Interaction control, Artificial Intelligence, law, 0202 electrical engineering, electronic engineering, information engineering, [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY], [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Electrical and Electronic Engineering, Reliability (statistics), business.industry, Applied Mathematics, Mechanical Engineering, Control engineering, Robotics, Robot end effector, Modeling and Simulation, Robot, 020201 artificial intelligence & image processing, Artificial intelligence, business, Software
Abstract

This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able to control the full 6D pose (position and orientation independently) and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector. Interaction is achieved by means of an admittance control scheme in which an outer loop control governs the desired admittance behavior (i.e., interaction compliance/stiffness, damping, and mass) and an inner loop based on inverse dynamics ensures full 6D pose tracking. The interaction forces are estimated by an inertial measurement unit (IMU)-enhanced momentum-based observer. An extensive experimental campaign is performed and four case studies are reported: a hard touch and slide on a wooden surface, called the sliding surface task; a tilted peg-in-hole task, i.e., the insertion of the end-effector in a tilted funnel; an admittance shaping experiment in which it is shown how the stiffness, damping, and apparent mass can be modulated at will; and, finally, the fourth experiment is to show the effectiveness of the approach also in the presence of time-varying interaction forces.

Published
2019
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32. The Tele-MAGMaS: An Aerial-Ground Comanipulator System

Author

Hyunsoo Yang, Nicolas Staub, Quentin Delamare, Davide Bicego, Domenico Prattichizzo, Mostafa Mohammadi, Dongjun Lee, Antonio Franchi, Paolo Robuffo Giordano, 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, Sensor-based and interactive robotics (RAINBOW), Inria Rennes – Bretagne Atlantique, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE (IRISA-D5), Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-Institut National de Recherche en Informatique et en Automatique (Inria)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Université de Bretagne Sud (UBS)-École normale supérieure - Rennes (ENS Rennes)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Seoul National University [Seoul] (SNU), ANR-17-CE33-0007,MUROPHEN,Controle de systèmes multi-robots pour l'observation de phenomenes dynamiques(2017), European Project: 644271,H2020,H2020-ICT-2014-1,AEROARMS(2015), European Project: 601165,EC:FP7:ICT,FP7-ICT-2011-9,WEARHAP(2013), 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 de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National de Recherche en Informatique et en Automatique (Inria)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1), Université de Rennes (UNIV-RENNES)-CentraleSupélec-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Bretagne Sud (UBS)-Institut National des Sciences Appliquées - Rennes (INSA Rennes), and Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-Institut National des Sciences Appliquées (INSA)-Université de Rennes (UNIV-RENNES)-École normale supérieure - Rennes (ENS Rennes)-Centre National de la Recherche Scientifique (CNRS)-Université de Rennes 1 (UR1)

Subjects
0209 industrial biotechnology, Computer science, 02 engineering and technology, Urban search and rescue, Drone, Nuclear decommissioning, Computer Science Applications, Limited access, 020901 industrial engineering & automation, Robotic systems, Construction industry, Control and Systems Engineering, Grippers, 11. Sustainability, 0202 electrical engineering, electronic engineering, information engineering, Systems engineering, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], 020201 artificial intelligence & image processing, Electrical and Electronic Engineering
Abstract

International audience; The manipulation of large objects by robotic systems is a challenge for applications in the construction industry, industrial decommissioning, and urban search and rescue (USAR). These are associated with dangerous environments and thus motivate devising robotic solutions to replace human presence. Furthermore, they often require manipulation of long objects, such as pipes, bars, beams, and metal frameworks, with limited access to their center of mass (CoM).

Published
2018
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33. 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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34. 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

35. 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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36. Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne

Author

Davide Bicego, 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, INSA de Toulouse, Antonio Franchi, Franchi, Antonio, Robotics and Mechatronics, and Digital Society Institute

Subjects
Automatic control, Interaction physique aérienne, Aerial manipulation, Multidirectional-thrust aerial robots, Manipulation aérienne, Contrôle automatique, Aerial physical interaction, Robotics, Robotique, Robots aériens à poussée multidirectionnelle, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis takes place inside the context of the European H2020 AeroArms project, whose goal is to develop aerial robotic systems with advanced manipulation capabilities to be applied in industrial inspection and maintenance. Hence, also the technology transfer and the impact on the industry plays here an important role.; Cette thèse aborde l’étude de véhicules aériens autonomes interagissant d’une façon active avec l’environnement, en portant une attention particulière au développement des techniques de modélisation, de conception, et de stratégies de commande appropriées pour ces systèmes. L’étude de ces systèmes étant intrinsèquement complexe et relativement récente, de nouvelles techniques sont nécessaires pour : i) mieux décrire la dynamique du véhicule aérien et ses contraintes d’actionnement ; ii) concevoir efficacement de nouveaux prototypes aériens dotés de propriétés particulières de dextérité et de résilience ; iii) garantir un contrôle stable pendant les opérations sans contact malgré les contraintes d’actionnement ; et iv) préserver la stabilité du système pendant la phase de contact avec l’environnement tout en garantissant l’accomplissement de la tâche de manipulation. Cette thèse explore de nouvelles stratégies pour surmonter, dans une certaine mesure, les problèmes de sous-actionnement des véhicules traditionnels, conçus avec les hélices orientées dans une même direction. L’objectif de cette thèse est d’enrichir les résultats théoriques préliminaires sur de nouvelles plateformes et, en outre, de contribuer au développement de systèmes robotiques aériens réels plus appropriés aux moyens de manipulation améliorés et adaptés aux tâches d’interaction physique aérienne. Cette thèse s’inscrit dans le cadre du projet européen H2020 AeroArms, dont le but est de développer des systèmes robotiques aériens dotés de capacités de manipulation avancées à appliquer dans les domaines de l’inspection et de la maintenance industrielles. Par conséquent, l’impact sur l’industrie joue ici un rôle important.629.8

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