Unmanned Aerial Vehicles (UAVs), or drones, are commonly used for various outdoor missions.
Most drones are underactuated, meaning they have fewer actuators than degrees of freedom.
While cost-effective, underactuated systems are less reliable and need more precise position control.
Researchers at Tecnalia’s Basque Research and Technology Alliance (BRTA) in Spain have made significant advancements in robotics by creating a new overactuated aerial robot.
This cutting-edge robot is designed to autonomously control its position and orientation, marking a groundbreaking development in aerial robotics.
Four quadrotors
A new robot was introduced in a paper published in the journal Robotics and Autonomous Systems . This innovative robot is equipped with four quadrotors that work together to carry its central body.
In a recent interview, Imanol Iriarte, the paper’s co-author, highlighted that their recent research was motivated by the desire to expand the capabilities of UAVs beyond passive observation missions.
Their goal is to automate presently risky or costly tasks, such as work at great heights or in isolated areas.
The main objective was to create a system capable of engaging with its surroundings, undertaking activities like carrying loads, collaborating on construction projects, conducting physical inspections, and maintaining various types of infrastructure, Iriarte said.
Tacnalia’s team, led by Iriarte, has been concentrating on developing an aerial robot equipped with multiple actuators to generate thrust. This innovative design enables the robot to manage its central body’s position and orientation autonomously.
The created robot consists of a central body connected to four quadrotors using passive universal joints.
The quadrotors work together to transport the main body, allowing it to move independently in six directions. As explained by Iriarte, this allows the robot to execute intricate movements and engage with its surroundings more skillfully.
The system offers significant benefits, including its exceptional control authority, ability to take off and land on inclined surfaces, and advanced thrust-vectoring capabilities.
Ad-hoc algorithm
The researchers created an aerial robot and designed a specialized control algorithm. This algorithm converts desired positions and orientations of the main body into angular speed commands for the robot’s 16 propellers.
This algorithm efficiently rejects external disturbances, further enhancing the robot’s control.
Iriarte mentioned that their aerial robot can independently monitor its main body’s six degrees of freedom using only passive mechanisms. This achievement is typically not possible for traditional underactuated multi-rotors.
The robot has many practical applications, such as transporting heavy loads, assisting in construction projects, conducting contact-based inspections, and maintaining various infrastructures.
Iriarte and his team tested their robot in both simulated environments and real-world outdoor settings to evaluate its performance.
The researchers discovered that their robot could independently track the 6 DoF of its central body, a capability that conventional UAVs cannot achieve.
The researchers’ robot has the potential for further improvement and could benefit from testing in a wider variety of real-world environments.
The technology can handle many intricate missions that demand precise control and tracking capabilities.
In upcoming research, the researchers aim to elevate the robot’s autonomy and enhance the system’s overall performance and resilience.
Additionally, they will explore alternative architectural variations tailored to specific tasks, mentioned Iriarte.
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