Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot

Fan Shi1, Moju Zhao2, Tomoki Anzai1, Keita Ito1, Xiangyu Chen1, Kei Okada1, Masayuki Inaba1

  • 1The University of Tokyo
  • 2University of Tokyo

Details

11:30 - 11:45 | Tue 5 Nov | L1-R6 | TuAT6.3

Session: Aerial Robotics I

Abstract

Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive framework to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.