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 language | English |
|---|---|
| Title of host publication | IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1623-1630 |
| Number of pages | 8 |
| Volume | 2016-November |
| ISBN (Electronic) | 9781509037629 |
| DOIs | |
| Publication status | Published - 2016 Nov 28 |
| Event | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 2016 Oct 9 → 2016 Oct 14 |
Other
| Other | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 |
|---|---|
| Country | Korea, Republic of |
| City | Daejeon |
| Period | 16/10/9 → 16/10/14 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
Cooperative transportation of a payload using quadrotors : A reconfigurable cable-driven parallel robot. / Masone, Carlo; Bulthoff, Heinrich; Stegagno, Paolo.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2016-November Institute of Electrical and Electronics Engineers Inc., 2016. p. 1623-1630 7759262.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Cooperative transportation of a payload using quadrotors
T2 - A reconfigurable cable-driven parallel robot
AU - Masone, Carlo
AU - Bulthoff, Heinrich
AU - Stegagno, Paolo
PY - 2016/11/28
Y1 - 2016/11/28
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85006428024&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006428024&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759262
DO - 10.1109/IROS.2016.7759262
M3 - Conference contribution
AN - SCOPUS:85006428024
VL - 2016-November
SP - 1623
EP - 1630
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -