Logo image
Back
Dynamic Stability of a Mobile Manipulating Unmanned Aerial Vehicle
Conference proceeding

Dynamic Stability of a Mobile Manipulating Unmanned Aerial Vehicle

Christopher Korpela, Matko Orsag, Miles Pekala, Paul Oh and IEEE
2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 4922-4927
01 Jan 2013
DOI: https://doi.org/10.1109/ICRA.2013.6631280
Featured in Collection :   UN Sustainable Development Goals @ Drexel

Abstract

Automation & Control Systems Engineering Engineering, Electrical & Electronic Robotics Science & Technology Technology
This paper presents a control scheme to achieve dynamic stability in an aerial vehicle with dual multi-degree of freedom manipulators. Arm movements assist with stability and recovery for ground robots, in particular humanoids and dynamically balancing vehicles. However, there is little work in aerial robotics where the manipulators themselves facilitate flight stability or the load mass is repositioned in flight for added control. We present recent results in arm motions that achieve increased flight stability without and with different load masses attached to the end-effectors. Our test flight results indicate that we can accurately model and control our aerial vehicle when both moving the manipulators and interacting with target objects.

Metrics

25 Record Views
57 citations in Web of Science
70 citations in Scopus

Details

UN Sustainable Development Goals (SDGs)

This publication has contributed to the advancement of the following goals:

#11 Sustainable Cities and Communities

InCites Highlights

Data related to this publication, from InCites Benchmarking & Analytics tool:

Collaboration types
Domestic collaboration
International collaboration
Web of Science research areas
Automation & Control Systems
Engineering, Electrical & Electronic
Robotics
Logo image