Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
  Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

Yüksel, B., Staub, N., & Franchi, A. (2016). Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1667-1672). Piscataway, NJ, USA: IEEE.

Item is

Basisdaten

einblenden: ausblenden:
Genre: Konferenzbeitrag

Externe Referenzen

einblenden:
ausblenden:
externe Referenz:
Link (beliebiger Volltext)
Beschreibung:
-
OA-Status:

Urheber

einblenden:
ausblenden:
 Urheber:
Yüksel, B1, 2, 3, Autor           
Staub, N, Autor
Franchi, A3, Autor           
Affiliations:
1Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2016-10
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/IROS.2016.7759268
BibTex Citekey: YukselSF2016
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Veranstaltungsort: Daejeon, Korea
Start-/Enddatum: 2016-10-09 - 2016-10-14

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 1667 - 1672 Identifikator: ISBN: 978-1-5090-3762-9