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Author Yuksel, B. ♦ Mahboubi, S. ♦ Secchi, C. ♦ Bulthoff, H.H. ♦ Franchi, A.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Pulleys ♦ Servomotors ♦ Actuators ♦ Solid modeling ♦ Robots ♦ Optimal control ♦ Springs
Abstract In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for tasks such as hammering or throwing. The actuator consists of an active pulley driven by a rotational servo motor, a passive pulley which is attached to a rigid link, and the elastic connections (springs) between these two pulleys. We identify the physical parameters of the system, and use an optimal control strategy to maximize its velocity by taking advantage of elastic components. The prototype can be extended to a light-weight variable stiffness actuator. The flexible-joint arm is applied on a quadrotor, to be used in aerial physical interaction tasks, which implies that the elastic components can also be used for stable interaction absorbing the interactive disturbances which might damage the flying system and its hardware. The design is validated through several experiments, and future developments are discussed in the paper.
Description Author affiliation: LAAS, Toulouse, France (Franchi, A.) || DISMI, Univ. of Modena & Reggio Emilia, Modena, Italy (Secchi, C.) || Max Planck Inst. for Biol. Cybern., Tubingen, Germany (Yuksel, B.; Mahboubi, S.; Bulthoff, H.H.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 1.30 MB
Page Count 7
Starting Page 870
Ending Page 876


Source: IEEE Xplore Digital Library