Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem

Quentin Delamare 1 Paolo Robuffo Giordano 1 Antonio Franchi 2
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this paper we consider the problem of letting an aerial robot exploiting its contact with the environment in order to enhance its motion possibilities, in a way reminiscent of legged robots exploiting contact forces for locomotion purposes. As a representative and initial case study, we consider a quadrotor equipped with a 1-DOF arm able to hook at some pivot points, and needing to perform a maneuver from an initial hooked configuration to a final hooked configuration while passing though a free-flight phase between the two anchor points. To this end, we propose a dynamical modeling able to capture the various phases (hooked, free-flying) together with an optimization framework for generating optimal motion plans compatible with actuation constraints. Simulation results illustrate the effectiveness of the approach and the promising potential in terms of more advanced maneuvers.
Document type :
Journal articles
Complete list of metadatas

Cited literature [21 references]  Display  Hide  Download

https://hal.laas.fr/hal-01704043
Contributor : Antonio Franchi <>
Submitted on : Thursday, February 8, 2018 - 11:12:56 AM
Last modification on : Saturday, October 26, 2019 - 1:31:15 AM

File

2018f-RobDelFra-preprint.pdf
Files produced by the author(s)

Identifiers

Citation

Quentin Delamare, Paolo Robuffo Giordano, Antonio Franchi. Towards Aerial Physical Locomotion: the Contact-Fly-Contact Problem. IEEE Robotics and Automation Letters, IEEE 2018, 3 (3), pp.1514-1521. ⟨10.1109/LRA.2018.2800798⟩. ⟨hal-01704043⟩

Share

Metrics

Record views

420

Files downloads

211