Zhu, Brian; Xu, Jiawei; Charway, Andrew; Saldaña, David
PogoDrone: Design, Model, and Control of a Jumping Quadrotor Proceedings Article
In: 2022 IEEE International Conference on Robotics and Automation, 2022.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, quadrotor | Links:
@inproceedings{Zhu2022,
title = {PogoDrone: Design, Model, and Control of a Jumping Quadrotor},
author = {Brian Zhu and Jiawei Xu and Andrew Charway and David Saldaña},
url = {https://arxiv.org/pdf/2204.00207.pdf},
doi = {https://doi.org/10.48550/arXiv.2204.00207},
year = {2022},
date = {2022-04-01},
urldate = {2022-04-01},
booktitle = {2022 IEEE International Conference on Robotics and Automation},
abstract = {We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal quadrotor. Jumping in place allows the robot to quickly move and operate very close to the ground. For instance, in agricultural applications, the jumping mechanism allows the robot to take samples of soil. We propose a hybrid controller that switches from attitude to position control to allow the robot to fall horizontally and recover to the original position. We compare the jumping mode with the hovering mode to analyze the energy consumption. In simulations, we evaluate the effect of different factors on energy consumption. In real experiments, we show that our robot can repeatedly impact the ground, jump, and fly in a physical environment.},
keywords = {aerial manipulation, aerial robot, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
Xu, Jiawei; D’Antonio, Diego S.; Saldaña, David
H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF Proceedings Article
In: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN: 978-1-7281-9077-8.
Abstract | BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor | Links:
@inproceedings{,
title = {H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF},
author = {Jiawei Xu and Diego S. D’Antonio and David Saldaña},
url = {https://youtu.be/olKYuWPWxHo
https://arxiv.org/pdf/2106.04048.pdf},
doi = {10.1109/ICRA48506.2021.9561016},
isbn = {978-1-7281-9077-8},
year = {2021},
date = {2021-10-18},
urldate = {2021-10-18},
booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
abstract = {Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to quadrotors, having a maximum payload and only four controllable degrees of freedom, limiting their adaptability to the task’s variations. We propose a versatile modular robotic system that can increase its payload and degrees of freedom by assembling heterogeneous modules; we call it H-ModQuad. It consists of cuboid modules propelled by quadrotors with tilted propellers that can generate forces in different directions. By connecting different types of modules, an H-ModQuad can increase its controllable degrees of freedom from 4 to 5 and 6. We model the general structure and propose three controllers, one for each number of controllable degrees of freedom. We extend the concept of the actuation ellipsoid to find the best reference orientation that can maximize the performance of the structure. Our approach is validated with experiments using actual robots, showing the independence of the translation and orientation of a structure.},
keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
Cardona, Gustavo A.; D’Antonio, Diego S.; Vasile, Cristian-Ioan; Saldaña, David
Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot Proceedings Article
In: 2021.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@inproceedings{nokey,
title = {Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot},
author = {Gustavo A. Cardona and Diego S. D’Antonio and Cristian-Ioan Vasile and David Saldaña},
url = {https://youtu.be/Ou6DPlXPE7A},
year = {2021},
date = {2021-08-13},
urldate = {2021-08-13},
abstract = {Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects need to be moved, the efficiency of the robotic system is constrained by the requirement of manual labor. Our approach uses a non-stretchable cable connected to two quadrotors, which we call the catenary robot, that fully automates the transportation task. Using the cable, we can roll and drag the cuboid object (box) on planar surfaces. Depending on the surface type, we choose the proper action, dragging for low friction, and rolling for high friction. Therefore, the transportation process does not require any human intervention as we use the cable to interact with the box without requiring fastening. We validate our control design in simulation and with actual robots, where we show them rolling and dragging boxes to track desired trajectories.},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
D’Antonio, Diego S.; Cardona, Gustavo A.; Saldaña, David
The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3857-3863, 2021, ISSN: 2377-3766.
Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@article{,
title = {The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors},
author = {Diego S. D’Antonio and Gustavo A. Cardona and David Saldaña },
url = {https://youtu.be/3SaKKjl6os0},
doi = {10.1109/LRA.2021.3062603},
issn = {2377-3766},
year = {2021},
date = {2021-02-26},
urldate = {2021-02-26},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {3857-3863},
abstract = {Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage usually requires human intervention, and autonomous procedures to locate and attach the object are not considered. Additionally, most of the approaches assume cables as rigid links, but manipulating cables requires considering the state when the cables are hanging. In this work, we design and control a catenary robot. Our robot is able to transport hook-shaped objects in the environment. The robotic system is composed of two quadrotors attached to the two ends of a cable. By defining the catenary curve with five degrees of freedom, position in 3-D, orientation in z-axis, and span, we can drive the two quadrotors to track a given trajectory. We validate our approach with simulations and real robots. We present four different scenarios of experiments. Our numerical solution is computationally fast and can be executed in real-time.},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {article}
}
Cardona, Gustavo A.; D’Antonio, Diego S.; Fierro, Rafael; Saldaña, David
Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots Proceedings Article
In: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1-8, 2021.
BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:
@inproceedings{9571068,
title = {Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots},
author = {Gustavo A. Cardona and Diego S. D’Antonio and Rafael Fierro and David Saldaña},
url = {https://youtu.be/MeEGL_PUBx4},
doi = {10.1109/AIRPHARO52252.2021.9571068},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},
pages = {1-8},
keywords = {aerial manipulation, aerial robot, cable, catenary robot, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
Gabrich, Bruno; Saldaña, David; Yim, Mark
Finding Structure Configurations for Flying Modular Robots Proceedings Article
In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6970-6976, 2021.
BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:
@inproceedings{finding2021gabrich,
title = {Finding Structure Configurations for Flying Modular Robots},
author = {Bruno Gabrich and David Saldaña and Mark Yim},
doi = {10.1109/IROS51168.2021.9636086},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {6970-6976},
keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {inproceedings}
}
Litman, Yehonathan; Gandhi, Neeraj; Phan, Linh Thi Xuan; Saldaña, David
Vision-Based Self-Assembly for Modular Multirotor Structures Journal Article
In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2202-2208, 2021.
BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:
@article{ral20vi2,
title = {Vision-Based Self-Assembly for Modular Multirotor Structures},
author = {Yehonathan Litman and Neeraj Gandhi and Linh Thi Xuan Phan and David Saldaña},
doi = {10.1109/LRA.2021.3061380},
year = {2021},
date = {2021-01-01},
urldate = {2021-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {2202-2208},
keywords = {aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {article}
}
Gandhi, Neeraj; Saldaña, David; Kumar, Vijay; Phan, Linh T. X.
Self-Reconfiguration in Response to Faults in Modular Aerial Systems Journal Article
In: IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2522-2529, 2020.
BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms
@article{gandhi2020self,
title = {Self-Reconfiguration in Response to Faults in Modular Aerial Systems},
author = {Neeraj Gandhi and David Saldaña and Vijay Kumar and Linh T. X. Phan},
year = {2020},
date = {2020-01-01},
urldate = {2020-01-01},
journal = {IEEE Robotics and Automation Letters},
volume = {5},
number = {2},
pages = {2522-2529},
keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {article}
}
Saldaña, David; Gupta, P. M.; Kumar, Vijay
Design and Control of Aerial Modules for Inflight Self-Disassembly Journal Article
In: IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3410-3417, 2019, ISSN: 2377-3766.
BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:
@article{ral19iros,
title = {Design and Control of Aerial Modules for Inflight Self-Disassembly},
author = {David Saldaña and P. M. Gupta and Vijay Kumar},
doi = {10.1109/LRA.2019.2926680},
issn = {2377-3766},
year = {2019},
date = {2019-10-01},
urldate = {2019-10-01},
journal = {IEEE Robotics and Automation Letters},
volume = {4},
number = {4},
pages = {3410-3417},
keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {article}
}
Li, Guanrui; Gabrich, Bruno; Saldaña, David; Das, Jnaneshwar; Kumar, Vijay; Yim, Mark
ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor Proceedings Article
In: 2019 International Conference on Robotics and Automation (ICRA), pp. 346-352, 2019.
BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:
@inproceedings{8794056,
title = {ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor},
author = {Guanrui Li and Bruno Gabrich and David Saldaña and Jnaneshwar Das and Vijay Kumar and Mark Yim},
doi = {10.1109/ICRA.2019.8794056},
year = {2019},
date = {2019-01-01},
urldate = {2019-01-01},
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
pages = {346-352},
keywords = {aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {inproceedings}
}
Gabrich, Bruno; Saldaña, David; Kumar, Vijay; Yim, Mark
A Flying Gripper Based on Cuboid Modular Robots Proceedings Article
In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7024-7030, 2018, ISSN: 2577-087X.
BibTeX | Tags: aerial manipulation, aerial robot, gripper, modquad, modular robots, multi-rotor, quadrotor | Links:
@inproceedings{icra18gripper,
title = {A Flying Gripper Based on Cuboid Modular Robots},
author = {Bruno Gabrich and David Saldaña and Vijay Kumar and Mark Yim},
url = {https://youtu.be/43RSgWRLhJc},
doi = {10.1109/ICRA.2018.8460682},
issn = {2577-087X},
year = {2018},
date = {2018-05-01},
urldate = {2018-05-01},
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {7024-7030},
keywords = {aerial manipulation, aerial robot, gripper, modquad, modular robots, multi-rotor, quadrotor},
pubstate = {published},
tppubtype = {inproceedings}
}
Saldaña, David; Gabrich, Bruno; Li, Guanrui; Yim, Mark; Kumar, Vijay
ModQuad: The Flying Modular Structure that Self-Assembles in Midair Proceedings Article
In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 691-698, 2018, ISSN: 2577-087X.
BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:
@inproceedings{icra18modquad,
title = {ModQuad: The Flying Modular Structure that Self-Assembles in Midair},
author = {David Saldaña and Bruno Gabrich and Guanrui Li and Mark Yim and Vijay Kumar},
url = {https://youtu.be/t9kXrhDwXf0},
doi = {10.1109/ICRA.2018.8461014},
issn = {2577-087X},
year = {2018},
date = {2018-05-01},
urldate = {2018-05-01},
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {691-698},
keywords = {aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms},
pubstate = {published},
tppubtype = {inproceedings}
}
© 2021 SwarmsLab. All rights reserved