Explanipedia

Teleoperation of a Suspended Aerial Manipulator Using a Handheld Camera With an IMU Open

Miguel Arpa Perozo, Ethan Niddam, Sylvain Durand, Loïc Cuvillon, Jacques Gangloff · 2024

Optimal design and visual servoing of a suspended aerial manipulator Open

Miguel Arpa Perozo · 2023

An Aerial Manipulator with Elastic Suspension (AMES) is a novel type of robot developed in our team to have a simple, dexterous, low-cost, and accurate robot with a large workspace. Previous work focused on the control of AMES robots. The …

Dynamic Control of a Macro–Mini Aerial Manipulator With Elastic Suspension Open

Arda Yiğit, Loïc Cuvillon, Miguel Arpa Perozo, Sylvain Durand, Jacques Gangloff · 2023

In this article, a macro–mini aerial manipulator with elastic suspension is introduced. The mini is an omnidirectional aerial manipulator suspended from the macro by a spring. The macro is a Cartesian robot that moves the anchoring point o…

Offset-free nonlinear model predictive control for improving dynamics of cable-driven parallel robots with on-board thrusters Open

Loïc Cuvillon, Miguel Arpa Perozo, Arda Yiğit, Sylvain Durand, Jacques Gangloff · 2022

Optimal Design and Control of an Aerial Manipulator with Elastic Suspension Using Unidirectional Thrusters Open

Miguel Arpa Perozo, Jean Dussine, Arda Yiğit, Loïc Cuvillon, Sylvain Durand , et al. · 2022

Aerial Manipulators with Elastic Suspension (AMES) may be seen as a hybrid robot mixing properties of classical Aerial Manipulators (AMs) and Cable-Driven Parallel Robots (CDPRs). The optimal design and control of an AMES using unidirectio…

Aerial Manipulator Suspended from a Cable-Driven Parallel Robot: Preliminary Experimental Results Open

Arda Yiğit, Miguel Arpa Perozo, Mandela Ouafo, Loïc Cuvillon, Sylvain Durand , et al. · 2021

Since omnidirectional aerial vehicles can generate a six degrees of freedom wrench, they could be used for dexterous manipulation tasks without the need for an additional robotic arm. However, they suffer from a reduced efficiency and dyna…

Improving Dynamics of an Aerial Manipulator with Elastic Suspension Using Nonlinear Model Predictive Control Open

Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff · 2021

International audience

Novel Omnidirectional Aerial Manipulator With Elastic Suspension: Dynamic Control and Experimental Performance Assessment Open

Arda Yiğit, Miguel Arpa Perozo, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff · 2021

Aerial manipulators may replace industrial manipulators for specific tasks involving large workspaces and high dynamics. However, these robots suffer from a lack of accuracy, autonomy, payload capability and a complex regulatory environmen…

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