Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot

Carlo Masone, Heinrich Bulthoff, Paolo Stegagno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

21 Citations (Scopus)

Abstract

This paper addresses the problem of cooperative aerial transportation of an object using a team of quadrotors. The approach presented to solve this problem accounts for the full dynamics of the system and it is inspired by the literature on reconfigurable cable-driven parallel robots (RCDPR). Using the modelling convention of RCDPR it is derived a direct relation between the motion of the quadrotors and the motion of the payload. This relation makes explicit the available internal motion of the system, which can be used to automatically achieve additional tasks. The proposed method does not require to specify a priory the forces in the cables and uses a tension distribution algorithm to optimally distribute them among the robots. The presented framework is also suitable for online teleoperation. Physical simulations with a human-in-the-loop validate the proposed approach.

Original languageEnglish
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1623-1630
Number of pages8
Volume2016-November
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 2016 Nov 28
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: 2016 Oct 92016 Oct 14

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period16/10/916/10/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Masone, C., Bulthoff, H., & Stegagno, P. (2016). Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2016-November, pp. 1623-1630). [7759262] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759262