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

Burak Yuksel, Saber Mahboubi, Cristian Secchi, Heinrich Bulthoff, Antonio Franchi

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

16 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages870-876
Number of pages7
Volume2015-June
EditionJune
DOIs
Publication statusPublished - 2015 Jun 29
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 2015 May 262015 May 30

Other

Other2015 IEEE International Conference on Robotics and Automation, ICRA 2015
CountryUnited States
CitySeattle
Period15/5/2615/5/30

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yuksel, B., Mahboubi, S., Secchi, C., Bulthoff, H., & Franchi, A. (2015). Design, identification and experimental testing of a light-weight flexible-joint arm for aerial physical interaction. In Proceedings - IEEE International Conference on Robotics and Automation (June ed., Vol. 2015-June, pp. 870-876). [7139280] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2015.7139280