Pub Date : 2020-09-21DOI: 10.1142/s230138502050020x
Patricio Moreno, S. Esteva, I. Mas, J. Giribet
This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles.
{"title":"Multi-UAV Specification and Control with a Single Pilot-in-the-Loop","authors":"Patricio Moreno, S. Esteva, I. Mas, J. Giribet","doi":"10.1142/s230138502050020x","DOIUrl":"https://doi.org/10.1142/s230138502050020x","url":null,"abstract":"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127735583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-21DOI: 10.1142/s2301385020500223
C. D. Wagter, B. Remes, R. Ruijsink, F. V. Tienen, E. V. D. Horst
Flight endurance is still a bottleneck for many types of unmanned air vehicle (UAV) applications. While battery technology improves over the years, for flights that last an entire day, batteries are still insufficient. Hydrogen-powered fuel cells offer an interesting alternative but pose stringent requirements on the platform. The required cruise power must be sufficiently low and flying with a pressurized tank poses new safety and shape constraints. This paper proposes a hybrid transitioning UAV that is optimized towards carrying a hydrogen tank and fuel cell. Hover is achieved using 12 redundant propellers connected to a dual Controller Area Network (CAN) bus and dual power supply. Forward flight is achieved using a tandem wing configuration. The tandem wing not only minimizes the required wingspan to minimize perturbations from gusts during hover, but it also handles the very large pitch inertia of the inline pressure tank and fuel cell very well. During forward flight, 8 of the 12 propellers are folded while the tip propellers counteract the tip vortexes. The propulsion is tested on a force balance and the selected fuel cell is tested in the lab. Finally, a prototype is built and tested in-flight using battery power. Stable hover, good transitioning properties, and stable forward flight are demonstrated.
{"title":"Design and Testing of a Vertical Take-Off and Landing UAV Optimized for Carrying a Hydrogen Fuel Cell with a Pressure Tank","authors":"C. D. Wagter, B. Remes, R. Ruijsink, F. V. Tienen, E. V. D. Horst","doi":"10.1142/s2301385020500223","DOIUrl":"https://doi.org/10.1142/s2301385020500223","url":null,"abstract":"Flight endurance is still a bottleneck for many types of unmanned air vehicle (UAV) applications. While battery technology improves over the years, for flights that last an entire day, batteries are still insufficient. Hydrogen-powered fuel cells offer an interesting alternative but pose stringent requirements on the platform. The required cruise power must be sufficiently low and flying with a pressurized tank poses new safety and shape constraints. This paper proposes a hybrid transitioning UAV that is optimized towards carrying a hydrogen tank and fuel cell. Hover is achieved using 12 redundant propellers connected to a dual Controller Area Network (CAN) bus and dual power supply. Forward flight is achieved using a tandem wing configuration. The tandem wing not only minimizes the required wingspan to minimize perturbations from gusts during hover, but it also handles the very large pitch inertia of the inline pressure tank and fuel cell very well. During forward flight, 8 of the 12 propellers are folded while the tip propellers counteract the tip vortexes. The propulsion is tested on a force balance and the selected fuel cell is tested in the lab. Finally, a prototype is built and tested in-flight using battery power. Stable hover, good transitioning properties, and stable forward flight are demonstrated.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129017485","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-21DOI: 10.1142/s2301385020500247
Yuchen Leng, M. Bronz, T. Jardin, J. Moschetta
Convertible unmanned aerial vehicle (UAV) combines advantages of convenient autonomous launch/recovery and efficient long range cruise performance. Successful design of this new type of aircraft relies heavily on good understanding of powered lift generated through propeller-wing interactions, where the velocity distribution within propeller slipstream is critical to estimate aerodynamic forces during hover condition. The present research studied a propeller-wing combination with a plain flap. A 5-hole probe measurement system was built to construct three-dimensional (3D) velocity field at a survey plane after wing trailing edge. The study has found that significant deformation of propeller slipstream was present in the form of opposite transverse displacement on extrados and intrados. The deformation could be enhanced by flap deflections. Velocity differences caused by the slipstream deformation could imply local variation of lift distribution compared to predictions from conventional assumptions of cylindrical slipstream. An analytical method was developed to reasonably estimate the position of deformed slipstream centreline. The research underlined that the mutual aspect of propeller-wing interaction could be critical for low-speed aerodynamic design.
{"title":"Slipstream Deformation of a Propeller-Wing Combination Applied for Convertible UAVs in Hover Condition","authors":"Yuchen Leng, M. Bronz, T. Jardin, J. Moschetta","doi":"10.1142/s2301385020500247","DOIUrl":"https://doi.org/10.1142/s2301385020500247","url":null,"abstract":"Convertible unmanned aerial vehicle (UAV) combines advantages of convenient autonomous launch/recovery and efficient long range cruise performance. Successful design of this new type of aircraft relies heavily on good understanding of powered lift generated through propeller-wing interactions, where the velocity distribution within propeller slipstream is critical to estimate aerodynamic forces during hover condition. The present research studied a propeller-wing combination with a plain flap. A 5-hole probe measurement system was built to construct three-dimensional (3D) velocity field at a survey plane after wing trailing edge. The study has found that significant deformation of propeller slipstream was present in the form of opposite transverse displacement on extrados and intrados. The deformation could be enhanced by flap deflections. Velocity differences caused by the slipstream deformation could imply local variation of lift distribution compared to predictions from conventional assumptions of cylindrical slipstream. An analytical method was developed to reasonably estimate the position of deformed slipstream centreline. The research underlined that the mutual aspect of propeller-wing interaction could be critical for low-speed aerodynamic design.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-09-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132924543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-08-20DOI: 10.1142/s2301385021500102
Mainak Mondal, S. Poslavskiy
This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.
{"title":"Offline Navigation (Homing) of Aerial Vehicles (Quadcopters) in GPS Denied Environments","authors":"Mainak Mondal, S. Poslavskiy","doi":"10.1142/s2301385021500102","DOIUrl":"https://doi.org/10.1142/s2301385021500102","url":null,"abstract":"This paper focuses on offline navigation in quadcopters (Return-to-Home), autonomously in GPS Denied Areas or in cases that the aircraft loses GPS Signal by using the Haversine’s Great circle formula to calculate distance and direction. The internal sensors are used to estimate offsets for distance and direction. A control system modification is proposed, resulting in a high success rate with the several tests using a quadcopter with a Pixhawk flight controller, equipped with PX4FLOW.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128318302","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-08-19DOI: 10.1142/S2301385020500235
D. Olejnik, B. P. Duisterhof, M. Karásek, Kirk Y. W. Scheper, T. V. Dijk, G. D. Croon
In the field of robotics, a major challenge is achieving high levels of autonomy with small vehicles that have limited mass and power budgets. The main motivation for designing such small vehicles is that compared to their larger counterparts, they have the potential to be safer, and hence be available and work together in large numbers. One of the key components in micro robotics is efficient software design to optimally utilize the computing power available. This paper describes the computer vision and control algorithms used to achieve autonomous flight with the [Formula: see text]30[Formula: see text]g tailless flapping wing robot, used to participate in the International Micro Air Vehicle Conference and Competition (IMAV 2018) indoor microair vehicle competition. Several tasks are discussed: line following, circular gate detection and fly through. The emphasis throughout this paper is on augmenting traditional techniques with the goal to make these methods work with limited computing power while obtaining robust behavior.
{"title":"A Tailless Flapping Wing MAV Performing Monocular Visual Servoing Tasks","authors":"D. Olejnik, B. P. Duisterhof, M. Karásek, Kirk Y. W. Scheper, T. V. Dijk, G. D. Croon","doi":"10.1142/S2301385020500235","DOIUrl":"https://doi.org/10.1142/S2301385020500235","url":null,"abstract":"In the field of robotics, a major challenge is achieving high levels of autonomy with small vehicles that have limited mass and power budgets. The main motivation for designing such small vehicles is that compared to their larger counterparts, they have the potential to be safer, and hence be available and work together in large numbers. One of the key components in micro robotics is efficient software design to optimally utilize the computing power available. This paper describes the computer vision and control algorithms used to achieve autonomous flight with the [Formula: see text]30[Formula: see text]g tailless flapping wing robot, used to participate in the International Micro Air Vehicle Conference and Competition (IMAV 2018) indoor microair vehicle competition. Several tasks are discussed: line following, circular gate detection and fly through. The emphasis throughout this paper is on augmenting traditional techniques with the goal to make these methods work with limited computing power while obtaining robust behavior.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115784716","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-08-17DOI: 10.1142/s2301385021500084
Yulong Ding, Bin Xin, Jie Chen
Coordination between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has received increasing attention in recent years. The list of successful applications of UAV–UGV coordination systems is growing and demonstrates that UAV–UGV coordination can provide real-world solutions that other types of coordination cannot offer. This paper systematically reviews the advances in UAV–UGV coordination systems during the period of 2015–2020 and offers a comprehensive investigation and analysis of the recent research. First, the essential elements in the UAV–UGV coordination systems are analyzed, and four key functional roles are identified. The close collaboration among functional roles can achieve the UAV–UGV coordination on perception, task, and motion. From the perspective of functional roles, UAV–UGV coordination systems can be further classified into eight categories. The functional-role-based category provides novel insights into analyzing various patterns of UAV–UGV coordination. This paper also discusses the challenges related to UAV–UGV coordination.
{"title":"A Review of Recent Advances in Coordination Between Unmanned Aerial and Ground Vehicles","authors":"Yulong Ding, Bin Xin, Jie Chen","doi":"10.1142/s2301385021500084","DOIUrl":"https://doi.org/10.1142/s2301385021500084","url":null,"abstract":"Coordination between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has received increasing attention in recent years. The list of successful applications of UAV–UGV coordination systems is growing and demonstrates that UAV–UGV coordination can provide real-world solutions that other types of coordination cannot offer. This paper systematically reviews the advances in UAV–UGV coordination systems during the period of 2015–2020 and offers a comprehensive investigation and analysis of the recent research. First, the essential elements in the UAV–UGV coordination systems are analyzed, and four key functional roles are identified. The close collaboration among functional roles can achieve the UAV–UGV coordination on perception, task, and motion. From the perspective of functional roles, UAV–UGV coordination systems can be further classified into eight categories. The functional-role-based category provides novel insights into analyzing various patterns of UAV–UGV coordination. This paper also discusses the challenges related to UAV–UGV coordination.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-08-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129004243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-15DOI: 10.1142/s2301385021500072
L. Cuomo, G. Guglieri
This paper offers an alternative Casualty Area assessment. This parameter appears in all flying vehicles risk evaluation. This work arises from the intention of contributing to the subject of risk assessment in aviation. All the formulations of the Casualty Area — which will be analyzed in this paper — are tailored for debris with high kinetic energies. These models lead to an overestimation of the risk associated with small drones flight, preventing both their use and the implied operational benefits. The proposed version tailors the small Remotely Piloted Aircraft Systems (commonly known as drones) falling under the A2 European Aviation Safety Agency (EASA) category, C2 class [European Aviation Safety Agency, Civil drones (Unmanned aircraft, 2018), https://www.easa.europa.eu/easa-and-you/civil-drones-rpas , accessed November (2019)], i.e. drones with a mass up to 4 kg. To obtain the new formulation, the authors started with the most used formula, proposed by Montgomery [R. M. Montgomery and J. A. Ward, Casualty Areas from Impacting Inert Debris for People in the Open (Research Triangle Institute, 1995)], used by FAA (Federal Aviation Administration, [Range Safety Group, Common Risk Criteria for National Test Ranges Inert Debris (Range Commanders Council, 2000)] and [Range Safety Group, Common Risk Criteria Standards for National Test Ranges (Range Commanders Council, 2010)]), adopting new hypotheses but following the same process. The results allow a risk formulation more suitable for drones of the above-mentioned size [Range Safety Group, Range Safety Criteria For Unmanned Air Vehicles Supplement (Range Commanders Council, 1999)]. The proposed formulation can be of use for specific regulatory issues. As a matter of fact, many services use small drones: aerial photography during public assemblies, concerts, sporting events, home deliveries, buildings thermal evaluation, to name just a few. The implementation of the present results allows a wider series of operations previously restricted due to the estimation of an incompatible level of risk. In fact, with the new formulation of the Casualty Area, the level of risk is safely lowered, mainly addressing the small dimension drones [European Aviation Safety Agency, Civil drones (Unmanned aircraft), https://www.easa.europa.eu/easa-and-you/civil-drones-rpas , Online accessed November (2019)]. The steps leading to the final formulation derive from a comprehensive analysis, coherent with the guidelines set by FAA and EASA.
本文提供了另一种伤亡区域评估方法。该参数出现在所有飞行器的风险评估中。这项工作源于对航空风险评估这一主题作出贡献的意图。本文将分析的所有伤亡区公式都是为高动能碎片量身定制的。这些模型导致高估了与小型无人机飞行相关的风险，阻碍了它们的使用和隐含的作战效益。拟议版本针对小型遥控飞机系统(通常称为无人机)，属于欧洲航空安全局(EASA) A2类，C2类[欧洲航空安全局，民用无人机(无人驾驶飞机，2018年)，https://www.easa.europa.eu/easa-and-you/civil-drones-rpas，于2019年11月获得]，即质量不超过4公斤的无人机。为了得到新的公式，作者从Montgomery [R。M. Montgomery和J. A. Ward，《开放环境中冲击惰性碎片造成人员伤亡区域》(三角研究所，1995年)，FAA(联邦航空管理局，[靶场安全小组，国家试验靶场惰性碎片共同风险标准(靶场指挥官委员会，2000年)]和[靶场安全小组，国家试验靶场共同风险标准(靶场指挥官委员会，2010年)])采用了新的假设，但遵循了相同的过程。研究结果使风险公式更适合上述尺寸的无人机[靶场安全小组，无人机靶场安全标准补充(靶场指挥官委员会，1999)]。建议的配方可用于特定的监管问题。事实上，许多服务都使用小型无人机:公共集会、音乐会、体育赛事、送货上门、建筑热评估等期间的航空摄影。目前结果的实施使以前由于估计不相容的风险水平而受到限制的一系列更广泛的行动成为可能。事实上，随着伤亡区域的新制定，风险水平被安全降低，主要针对小尺寸无人机[欧洲航空安全局，民用无人机(无人驾驶飞机)，https://www.easa.europa.eu/easa-and-you/civil-drones-rpas，在线访问11月(2019年)]。导致最终制定的步骤源自全面分析，符合FAA和EASA制定的指导方针。
{"title":"Casualty Risk Analysis for Remotely Piloted Aircraft Systems Operations","authors":"L. Cuomo, G. Guglieri","doi":"10.1142/s2301385021500072","DOIUrl":"https://doi.org/10.1142/s2301385021500072","url":null,"abstract":"This paper offers an alternative Casualty Area assessment. This parameter appears in all flying vehicles risk evaluation. This work arises from the intention of contributing to the subject of risk assessment in aviation. All the formulations of the Casualty Area — which will be analyzed in this paper — are tailored for debris with high kinetic energies. These models lead to an overestimation of the risk associated with small drones flight, preventing both their use and the implied operational benefits. The proposed version tailors the small Remotely Piloted Aircraft Systems (commonly known as drones) falling under the A2 European Aviation Safety Agency (EASA) category, C2 class [European Aviation Safety Agency, Civil drones (Unmanned aircraft, 2018), https://www.easa.europa.eu/easa-and-you/civil-drones-rpas , accessed November (2019)], i.e. drones with a mass up to 4 kg. To obtain the new formulation, the authors started with the most used formula, proposed by Montgomery [R. M. Montgomery and J. A. Ward, Casualty Areas from Impacting Inert Debris for People in the Open (Research Triangle Institute, 1995)], used by FAA (Federal Aviation Administration, [Range Safety Group, Common Risk Criteria for National Test Ranges Inert Debris (Range Commanders Council, 2000)] and [Range Safety Group, Common Risk Criteria Standards for National Test Ranges (Range Commanders Council, 2010)]), adopting new hypotheses but following the same process. The results allow a risk formulation more suitable for drones of the above-mentioned size [Range Safety Group, Range Safety Criteria For Unmanned Air Vehicles Supplement (Range Commanders Council, 1999)]. The proposed formulation can be of use for specific regulatory issues. As a matter of fact, many services use small drones: aerial photography during public assemblies, concerts, sporting events, home deliveries, buildings thermal evaluation, to name just a few. The implementation of the present results allows a wider series of operations previously restricted due to the estimation of an incompatible level of risk. In fact, with the new formulation of the Casualty Area, the level of risk is safely lowered, mainly addressing the small dimension drones [European Aviation Safety Agency, Civil drones (Unmanned aircraft), https://www.easa.europa.eu/easa-and-you/civil-drones-rpas , Online accessed November (2019)]. The steps leading to the final formulation derive from a comprehensive analysis, coherent with the guidelines set by FAA and EASA.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113945143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-10DOI: 10.1142/s2301385020500193
Claudio D. Pose, Francisco Presenza, I. Mas, J. Giribet
Lately, a novel multirotor aerial vehicle capable of handling single rotor failures was presented. When a rotor fails, physically reconfiguring one of the remaining rotors of a hexarotor allows to compensate for maneuverability limitations. In this work, experimental results show the performance of the vehicle in a trajectory-following task in both nominal and fault conditions.
{"title":"Trajectory Following with a MAV Under Rotor Fault Conditions","authors":"Claudio D. Pose, Francisco Presenza, I. Mas, J. Giribet","doi":"10.1142/s2301385020500193","DOIUrl":"https://doi.org/10.1142/s2301385020500193","url":null,"abstract":"Lately, a novel multirotor aerial vehicle capable of handling single rotor failures was presented. When a rotor fails, physically reconfiguring one of the remaining rotors of a hexarotor allows to compensate for maneuverability limitations. In this work, experimental results show the performance of the vehicle in a trajectory-following task in both nominal and fault conditions.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132509848","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-04DOI: 10.1142/s2301385020020021
P. Campoy, P. D. L. Puente, Hriday Bavle, Adrian Carrio
{"title":"Editorial: Special Issue for selected papers from IMAV 2019","authors":"P. Campoy, P. D. L. Puente, Hriday Bavle, Adrian Carrio","doi":"10.1142/s2301385020020021","DOIUrl":"https://doi.org/10.1142/s2301385020020021","url":null,"abstract":"","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125041065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-07-01DOI: 10.1142/s230138502050017x
Misaki Hanafusa, J. Ishikawa
This paper proposes a compliant motion control for human-cooperative robots to absorb collision force when persons accidentally touch the robots even while the robot is manipulating an object. In the proposed method, an external force estimator, which can distinguish the net external force from the object manipulation force, is realized using an inverse dynamics model acquired by a recurrent neural network (RNN). By implementing a mechanical impedance control to the estimated external force, the robot can quickly and precisely carry the object keeping the mechanical impedance control functioned and can generate a compliant motion to the net external force only when the person touches it during manipulation. Since the proposed method estimates the external force from the generalized force based on the learned inverse dynamics, it is not necessary to install any sensors on the manipulated object to measure the external force. This allows the robot to detect the collision even when the person touches anywhere on the manipulated object. The RNN inverse dynamics model is evaluated by the leave-one-out cross-validation and it was found that it works well for unknown trajectories excluded from the learning process. Although the details were omitted due to the limitation of the page length, similar to the simulations, the RNN inverse dynamics model was evaluated using unknown trajectories in the six degree-of-freedom experiments, and it has been verified that it functions properly even for the unknown trajectories. Finally, the validity of the proposed method has been confirmed by experiments in which a person touches a robot while it is manipulating an object with six degrees of freedom.
{"title":"Mechanical Impedance Control of Cooperative Robot During Object Manipulation Based on External Force Estimation Using Recurrent Neural Network","authors":"Misaki Hanafusa, J. Ishikawa","doi":"10.1142/s230138502050017x","DOIUrl":"https://doi.org/10.1142/s230138502050017x","url":null,"abstract":"This paper proposes a compliant motion control for human-cooperative robots to absorb collision force when persons accidentally touch the robots even while the robot is manipulating an object. In the proposed method, an external force estimator, which can distinguish the net external force from the object manipulation force, is realized using an inverse dynamics model acquired by a recurrent neural network (RNN). By implementing a mechanical impedance control to the estimated external force, the robot can quickly and precisely carry the object keeping the mechanical impedance control functioned and can generate a compliant motion to the net external force only when the person touches it during manipulation. Since the proposed method estimates the external force from the generalized force based on the learned inverse dynamics, it is not necessary to install any sensors on the manipulated object to measure the external force. This allows the robot to detect the collision even when the person touches anywhere on the manipulated object. The RNN inverse dynamics model is evaluated by the leave-one-out cross-validation and it was found that it works well for unknown trajectories excluded from the learning process. Although the details were omitted due to the limitation of the page length, similar to the simulations, the RNN inverse dynamics model was evaluated using unknown trajectories in the six degree-of-freedom experiments, and it has been verified that it functions properly even for the unknown trajectories. Finally, the validity of the proposed method has been confirmed by experiments in which a person touches a robot while it is manipulating an object with six degrees of freedom.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115897443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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