A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear–quadratic–integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects.
No takes yet. Share an insight, caveat, or question.
Zhao et al. (2018) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: