Pub Date : 2019-05-20DOI: 10.1109/ICRA.2019.8794163
Abdullah Nazir, Jungwon Seo
This paper presents a novel robotic manipulation technique for transporting objects on the ground in a passive dynamic, nonprehensile manner. The object is manipulated to rock from side to side repeatedly; in the meantime, the force of gravity enables the object to roll along a zigzag path that is eventually heading forward. We call it rock-and-walk object locomotion. First, we examine the kinematics and dynamics of the rocking motion to understand how the states of the object evolve. We then discuss how to control the robot to connect individual rocking motions into a stable gait of the object. Our rock-and-walk object transportation technique is implemented using a conventional manipulator arm and a simple endeffector, interacting with the object in a nonprehensile manner in favor of the passive dynamics of the object. A set of experiments demonstrates successful object locomotion.
{"title":"Passive Dynamic Object Locomotion by Rocking and Walking Manipulation","authors":"Abdullah Nazir, Jungwon Seo","doi":"10.1109/ICRA.2019.8794163","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794163","url":null,"abstract":"This paper presents a novel robotic manipulation technique for transporting objects on the ground in a passive dynamic, nonprehensile manner. The object is manipulated to rock from side to side repeatedly; in the meantime, the force of gravity enables the object to roll along a zigzag path that is eventually heading forward. We call it rock-and-walk object locomotion. First, we examine the kinematics and dynamics of the rocking motion to understand how the states of the object evolve. We then discuss how to control the robot to connect individual rocking motions into a stable gait of the object. Our rock-and-walk object transportation technique is implemented using a conventional manipulator arm and a simple endeffector, interacting with the object in a nonprehensile manner in favor of the passive dynamics of the object. A set of experiments demonstrates successful object locomotion.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"79 3","pages":"7926-7932"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72583473","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793968
Will Pryor, Balázs P. Vágvölgyi, William Gallagher, A. Deguet, S. Léonard, L. Whitcomb, P. Kazanzides
On-orbit servicing of satellites is complicated by the fact that almost all existing satellites were not designed to be serviced. This creates a number of challenges, one of which is to cut and partially remove the protective thermal blanketing that encases a satellite prior to performing the servicing operation. A human operator on Earth can perform this task telerobotically, but must overcome difficulties presented by the multi-second round-trip telemetry delay between the satellite and the operator and the limited, or even obstructed, views from the available cameras.This paper reports the results of ground-based experiments with trained NASA robot teleoperators to compare our recently-reported augmented virtuality visualization to the conventional camera-based visualization. We also compare the master console of a da Vinci surgical robot to the conventional teleoperation interface. The results show that, for the cutting task, the augmented virtuality visualization can improve operator performance compared to the conventional visualization, but that operators are more proficient with the conventional control interface than with the da Vinci master console.
{"title":"Experimental Evaluation of Teleoperation Interfaces for Cutting of Satellite Insulation","authors":"Will Pryor, Balázs P. Vágvölgyi, William Gallagher, A. Deguet, S. Léonard, L. Whitcomb, P. Kazanzides","doi":"10.1109/ICRA.2019.8793968","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793968","url":null,"abstract":"On-orbit servicing of satellites is complicated by the fact that almost all existing satellites were not designed to be serviced. This creates a number of challenges, one of which is to cut and partially remove the protective thermal blanketing that encases a satellite prior to performing the servicing operation. A human operator on Earth can perform this task telerobotically, but must overcome difficulties presented by the multi-second round-trip telemetry delay between the satellite and the operator and the limited, or even obstructed, views from the available cameras.This paper reports the results of ground-based experiments with trained NASA robot teleoperators to compare our recently-reported augmented virtuality visualization to the conventional camera-based visualization. We also compare the master console of a da Vinci surgical robot to the conventional teleoperation interface. The results show that, for the cutting task, the augmented virtuality visualization can improve operator performance compared to the conventional visualization, but that operators are more proficient with the conventional control interface than with the da Vinci master console.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"24 1","pages":"4775-4781"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74082376","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793807
A. Stager, H. Tanner
This paper suggests reflections can be practically useful if they are included in planning for collision capable robot platforms. By modifying a proven strategy for navigation with reflections we maintain global convergence results and reach the goal in less time. An algorithm for identifying reflection surfaces for a given cell decomposition is reported. Baseline and reflected scenarios are compared for two different cell decompositions. Omnipuck, a reflection capable omnidirectional robot meant to store and release impact energy, is used to obtain experimental results and draw conclusions for future work.
{"title":"Composition of Local Potential Functions with Reflection","authors":"A. Stager, H. Tanner","doi":"10.1109/ICRA.2019.8793807","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793807","url":null,"abstract":"This paper suggests reflections can be practically useful if they are included in planning for collision capable robot platforms. By modifying a proven strategy for navigation with reflections we maintain global convergence results and reach the goal in less time. An algorithm for identifying reflection surfaces for a given cell decomposition is reported. Baseline and reflected scenarios are compared for two different cell decompositions. Omnipuck, a reflection capable omnidirectional robot meant to store and release impact energy, is used to obtain experimental results and draw conclusions for future work.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"53 1","pages":"5558-5564"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77551711","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793932
Charuvahan Adhivarahan, Karthik Dantu
Spatial sensing is a fundamental requirement for applications in robotics and augmented reality. In urban spaces such as malls, airports, apartments, and others, it is quite challenging for a single robot to map the whole environment. So, we employ a swarm of robots to perform the mapping. One challenge with this approach is merging sub-maps built by each robot. In this work, we use wireless access points, which are ubiquitous in most urban spaces, to provide us with coarse orientation between sub-maps, and use a custom ICP algorithm to refine this orientation to merge them. We demonstrate our approach with maps from a building on campus and evaluate it using two metrics. Our results show that, in the building we studied, we can achieve an average Absolute Trajectory error of 0.2m in comparison to a map created by a single robot and average Root Mean Square mapping error of 1.3m from ground truth landmark locations.
{"title":"WISDOM: WIreless Sensing-assisted Distributed Online Mapping","authors":"Charuvahan Adhivarahan, Karthik Dantu","doi":"10.1109/ICRA.2019.8793932","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793932","url":null,"abstract":"Spatial sensing is a fundamental requirement for applications in robotics and augmented reality. In urban spaces such as malls, airports, apartments, and others, it is quite challenging for a single robot to map the whole environment. So, we employ a swarm of robots to perform the mapping. One challenge with this approach is merging sub-maps built by each robot. In this work, we use wireless access points, which are ubiquitous in most urban spaces, to provide us with coarse orientation between sub-maps, and use a custom ICP algorithm to refine this orientation to merge them. We demonstrate our approach with maps from a building on campus and evaluate it using two metrics. Our results show that, in the building we studied, we can achieve an average Absolute Trajectory error of 0.2m in comparison to a map created by a single robot and average Root Mean Square mapping error of 1.3m from ground truth landmark locations.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"15 1","pages":"8026-8033"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82599655","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8794431
Young Min Lee, H. Lee, H. Moon, Hyoukryeol Choi, J. Koo
The Elastic Inflatable Actuators (EIAs) has several advantages such as the inherent compliance due to the body comprised of a soft materials such as silicone. Among them, the soft fiber reinforced actuator is based on the principle that the expansion of enclosure and constraint of fiber pattern lead to a desired operation. While lots of researches on the actuator has been attributed to linear and bending motions, however, there are only few researches on rotary, or torsional, motions. In this paper, we propose a new actuator that causes azimuthal deformation due to restriction of anisotropically distributed fiber element along the radial direction and expansion of the hyper elastic material. Structure design of the actuator and a fabrication process of the actuator are presented. Subsequently, FEM simulation and experiment are executed to measure rotation angles of the actuators corresponding to the applied pressure.
{"title":"Azimuthal Shear Deformation of a Novel Soft Fiber-reinforced Rotary Pneumatic Actuator","authors":"Young Min Lee, H. Lee, H. Moon, Hyoukryeol Choi, J. Koo","doi":"10.1109/ICRA.2019.8794431","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8794431","url":null,"abstract":"The Elastic Inflatable Actuators (EIAs) has several advantages such as the inherent compliance due to the body comprised of a soft materials such as silicone. Among them, the soft fiber reinforced actuator is based on the principle that the expansion of enclosure and constraint of fiber pattern lead to a desired operation. While lots of researches on the actuator has been attributed to linear and bending motions, however, there are only few researches on rotary, or torsional, motions. In this paper, we propose a new actuator that causes azimuthal deformation due to restriction of anisotropically distributed fiber element along the radial direction and expansion of the hyper elastic material. Structure design of the actuator and a fabrication process of the actuator are presented. Subsequently, FEM simulation and experiment are executed to measure rotation angles of the actuators corresponding to the applied pressure.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"22 1","pages":"7409-7414"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85682296","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793809
Dongwon Kim, Kyung Koh, G. Cho, Li-Qun Zhang
This study presents an impedance controller for series elastic actuators (SEAs), using the singular perturbation (SP) theory and time-delay estimation (TDE) technique. While the SP theory attenuates the requirement for states to be measured, the TDE technique eliminates the requirement for identifying system parameters. Through a numerical analysis and experimental validation, we demonstrate that the proposed controller produces satisfactory tracking performance while–at the same time–pursues wider operational bandwidth and lower driving-point impedance.
{"title":"A Simple but Robust Impedance Controller for Series Elastic Actuators","authors":"Dongwon Kim, Kyung Koh, G. Cho, Li-Qun Zhang","doi":"10.1109/ICRA.2019.8793809","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793809","url":null,"abstract":"This study presents an impedance controller for series elastic actuators (SEAs), using the singular perturbation (SP) theory and time-delay estimation (TDE) technique. While the SP theory attenuates the requirement for states to be measured, the TDE technique eliminates the requirement for identifying system parameters. Through a numerical analysis and experimental validation, we demonstrate that the proposed controller produces satisfactory tracking performance while–at the same time–pursues wider operational bandwidth and lower driving-point impedance.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"17 1","pages":"3059-3065"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80869105","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793652
Janelle P. Clark, G. Lentini, F. Barontini, M. Catalano, M. Bianchi, M. O'Malley
Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured.
{"title":"On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation","authors":"Janelle P. Clark, G. Lentini, F. Barontini, M. Catalano, M. Bianchi, M. O'Malley","doi":"10.1109/ICRA.2019.8793652","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793652","url":null,"abstract":"Robotic teleoperation enables humans to safely complete exploratory procedures in remote locations for applications such as deep sea exploration or building assessments following natural disasters. Successful task completion requires meaningful dual arm robotic coordination and proper understanding of the environment. While these capabilities are inherent to humans via impedance regulation and haptic interactions, they can be challenging to achieve in telerobotic systems. Teleimpedance control has allowed impedance regulation in such applications, and bilateral teleoperation systems aim to restore haptic sensation to the operator, though often at the expense of stability or workspace size. Wearable haptic devices have the potential to apprise the operator of key forces during task completion while maintaining stability and transparency. In this paper, we evaluate the impact of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Participants completed a peg-in-hole, box placement task, aiming to seat as many boxes as possible within the trial period. Experiments were conducted both transparent and opaque boxes. With the opaque box, participants achieved a higher number of successful placements with haptic feedback, and we saw higher mean interaction forces. Results suggest that the provision of wearable haptic feedback may increase confidence when visual cues are obscured.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"25 1","pages":"5187-5193"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79841128","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793960
Kostas Nanos, E. Papadopoulos
The parameter estimation of space manipulator systems on orbit is studied, whose manipulators are subject to joint flexibilities. To improve path planning and tracking capabilities, advanced control strategies that benefit from the knowledge of system parameters are required. These parameters include the system inertial parameters as well as the stiffness and damping parameters, which describe joint flexibilities. During operation some of these parameters may change or be unknown. Estimation methods based on the equations of motion are sensitive to noise, while methods based on the angular momentum conservation, while they are tolerant to noise, they cannot estimate the parameters that describe joint flexibilities. A parameter estimation method, based on the energy balance, applied during the motion of a space flexible-joint manipulator system in the free-floating mode, is developed. The method is tolerant to noise and can reconstruct the system full dynamics. It is shown that the parameters estimated by the proposed method can describe the system dynamics fully. The application of the developed method is valid for spatial systems; it is illustrated by a planar 7 degrees of freedom (DoF) example system.
{"title":"On Parameter Estimation of Space Manipulator Systems with Flexible Joints Using the Energy Balance*","authors":"Kostas Nanos, E. Papadopoulos","doi":"10.1109/ICRA.2019.8793960","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793960","url":null,"abstract":"The parameter estimation of space manipulator systems on orbit is studied, whose manipulators are subject to joint flexibilities. To improve path planning and tracking capabilities, advanced control strategies that benefit from the knowledge of system parameters are required. These parameters include the system inertial parameters as well as the stiffness and damping parameters, which describe joint flexibilities. During operation some of these parameters may change or be unknown. Estimation methods based on the equations of motion are sensitive to noise, while methods based on the angular momentum conservation, while they are tolerant to noise, they cannot estimate the parameters that describe joint flexibilities. A parameter estimation method, based on the energy balance, applied during the motion of a space flexible-joint manipulator system in the free-floating mode, is developed. The method is tolerant to noise and can reconstruct the system full dynamics. It is shown that the parameters estimated by the proposed method can describe the system dynamics fully. The application of the developed method is valid for spatial systems; it is illustrated by a planar 7 degrees of freedom (DoF) example system.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"38 1","pages":"3570-3576"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80095739","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793871
Z. Tang, H. Heung, K. Tong, Zheng Li
Soft robots attract research interests worldwide. However, its control remains challenging due to the difficulty in sensing and accurate modeling. In this paper, we propose a novel iterative learning model predictive control (ILMPC) method for soft bending actuators. The uniqueness of our approach is the ability to improve model accuracy gradually. In this method, a pseudo-rigid-body model is used to take an initial guess of the bending behavior of the actuator and the model accuracy is improved with iterative learning. Compared with conventional model free iterative learning control (ILC), the proposed method significantly reduces the learning curve. Compared with the model predictive control (MPC), the proposed method does not rely on an accurate model and it will output a satisfactory model after the learning process. A soft-elastic composite actuator (SECA) is used to validate the proposed method. Both simulation and experimental results show that the proposed method outperforms the conventional MPC and ILC.
{"title":"A Novel Iterative Learning Model Predictive Control Method for Soft Bending Actuators","authors":"Z. Tang, H. Heung, K. Tong, Zheng Li","doi":"10.1109/ICRA.2019.8793871","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793871","url":null,"abstract":"Soft robots attract research interests worldwide. However, its control remains challenging due to the difficulty in sensing and accurate modeling. In this paper, we propose a novel iterative learning model predictive control (ILMPC) method for soft bending actuators. The uniqueness of our approach is the ability to improve model accuracy gradually. In this method, a pseudo-rigid-body model is used to take an initial guess of the bending behavior of the actuator and the model accuracy is improved with iterative learning. Compared with conventional model free iterative learning control (ILC), the proposed method significantly reduces the learning curve. Compared with the model predictive control (MPC), the proposed method does not rely on an accurate model and it will output a satisfactory model after the learning process. A soft-elastic composite actuator (SECA) is used to validate the proposed method. Both simulation and experimental results show that the proposed method outperforms the conventional MPC and ILC.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"57 1","pages":"4004-4010"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88746111","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 : 2019-05-20DOI: 10.1109/ICRA.2019.8793873
Rebecca Steinmeyer, N. P. Hyun, E. F. Helbling, R. Wood
Flapping-wing micro-aerial vehicles rely on subtle changes in the kinematics of high-frequency wing flapping to produce roll, pitch, and yaw torques. To generate yaw torque, the Harvard RoboBee changes the ratio of upstroke to downstroke speed (“split-cycling”) by applying a second harmonic to the fundamental flapping signal for each wing. However, since flapping typically occurs near resonance (for efficiency), these higher harmonics are filtered out by the transmission and actuator dynamics. Therefore, reliable yaw control authority has proven elusive. We propose a method to generate yaw torque sufficient for in-flight control by using split-cycle flapping in an “iso-lift” regime, to mitigate resonant filtering by decreasing the flapping frequency and increasing the drive voltage, which produces lift identical to typical flight conditions. We model the expected torque at iso-lift conditions and apply this method to the physical RoboBee, achieving reliable, controllable yaw torque. Finally, we demonstrate yaw control with a simple heading controller, achieving a step response with a time constant an order of magnitude faster than previous attempts.
{"title":"Yaw Torque Authority for a Flapping-Wing Micro-Aerial Vehicle","authors":"Rebecca Steinmeyer, N. P. Hyun, E. F. Helbling, R. Wood","doi":"10.1109/ICRA.2019.8793873","DOIUrl":"https://doi.org/10.1109/ICRA.2019.8793873","url":null,"abstract":"Flapping-wing micro-aerial vehicles rely on subtle changes in the kinematics of high-frequency wing flapping to produce roll, pitch, and yaw torques. To generate yaw torque, the Harvard RoboBee changes the ratio of upstroke to downstroke speed (“split-cycling”) by applying a second harmonic to the fundamental flapping signal for each wing. However, since flapping typically occurs near resonance (for efficiency), these higher harmonics are filtered out by the transmission and actuator dynamics. Therefore, reliable yaw control authority has proven elusive. We propose a method to generate yaw torque sufficient for in-flight control by using split-cycle flapping in an “iso-lift” regime, to mitigate resonant filtering by decreasing the flapping frequency and increasing the drive voltage, which produces lift identical to typical flight conditions. We model the expected torque at iso-lift conditions and apply this method to the physical RoboBee, achieving reliable, controllable yaw torque. Finally, we demonstrate yaw control with a simple heading controller, achieving a step response with a time constant an order of magnitude faster than previous attempts.","PeriodicalId":6730,"journal":{"name":"2019 International Conference on Robotics and Automation (ICRA)","volume":"32 1","pages":"2481-2487"},"PeriodicalIF":0.0,"publicationDate":"2019-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90730017","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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