In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing. The actuator consists of an active pulley driven by a rotational servo motor, a passive pulley which is attached to a rigid link, and the elastic connections (springs) between these two pulleys. We identify the physical parameters of the system, and use an optimal control strategy to maximize its velocity by taking advantage of elastic components. The prototype can be extended to a light-weight variable stiffness actuator. The flexible-joint arm is applied on a quadrotor, to be used in aerial physical interaction tasks, which implies that the elastic components can also be used for stable interaction absorbing the interactive disturbances which might damage the flying system and its hardware. The design is validated through several experiments, and future developments are discussed in the paper.

Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction / Yuksel, Burak; Mahboubi, Saber; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio. - 2015:June(2015), pp. 870-876. (Intervento presentato al convegno 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 tenutosi a Seattle; United States nel 26-30 May 2015) [10.1109/ICRA.2015.7139280].

Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction

SECCHI, Cristian;
2015

Abstract

In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing. The actuator consists of an active pulley driven by a rotational servo motor, a passive pulley which is attached to a rigid link, and the elastic connections (springs) between these two pulleys. We identify the physical parameters of the system, and use an optimal control strategy to maximize its velocity by taking advantage of elastic components. The prototype can be extended to a light-weight variable stiffness actuator. The flexible-joint arm is applied on a quadrotor, to be used in aerial physical interaction tasks, which implies that the elastic components can also be used for stable interaction absorbing the interactive disturbances which might damage the flying system and its hardware. The design is validated through several experiments, and future developments are discussed in the paper.
2015
2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Seattle; United States
26-30 May 2015
2015
870
876
Yuksel, Burak; Mahboubi, Saber; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio
Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction / Yuksel, Burak; Mahboubi, Saber; Secchi, Cristian; Bulthoff, Heinrich H.; Franchi, Antonio. - 2015:June(2015), pp. 870-876. (Intervento presentato al convegno 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 tenutosi a Seattle; United States nel 26-30 May 2015) [10.1109/ICRA.2015.7139280].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1113323
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