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Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction

Modelling, Control, Design and Experiments

  • Book
  • © 2024

Overview

Authors:
  1. Karen Bodie

    1. Mechanical and Process Engineering, ETH Zurich, Zürich, Switzerland

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  2. Maximilian Brunner

    1. ETH Zurich, Zurich, Switzerland

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    You can also search for this author in PubMed   Google Scholar

  3. Mike Allenspach

    1. ETH Zurich, Zurich, Switzerland

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  • Covers the basis for development of aerial robots for omnidirectional physical interaction
  • Focuses on omnidirectional tilt-rotor systems
  • Addresses morphology selection, modellingmodeling, control methods, and detailed prototype design

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 157)

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Table of contents (7 chapters)

  1. Front Matter

    Pages i-xvi
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  2. Introduction

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 1-23

  3. Problem Definition

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 25-41

  4. Modelling

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 43-80

  5. Control

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 81-109

  6. Prototype Design

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 111-131

  7. Experimental Results

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 133-204

  8. Conclusions

    • Karen Bodie, Maximilian Brunner, Mike Allenspach
    Pages 205-211

  9. Back Matter

    Pages 213-221
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Keywords

About this book

This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.


Authors and Affiliations

  • Mechanical and Process Engineering, ETH Zurich, Zürich, Switzerland

    Karen Bodie

  • ETH Zurich, Zurich, Switzerland

    Maximilian Brunner, Mike Allenspach

Bibliographic Information

  • Book Title: Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction

  • Book Subtitle: Modelling, Control, Design and Experiments

  • Authors: Karen Bodie, Maximilian Brunner, Mike Allenspach

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-031-45497-4

  • Publisher: Springer Cham

  • eBook Packages: Engineering, Engineering (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2024

  • Hardcover ISBN: 978-3-031-45496-7Published: 16 December 2023

  • Softcover ISBN: 978-3-031-45499-8Due: 16 January 2024

  • eBook ISBN: 978-3-031-45497-4Published: 15 December 2023

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XVI, 221

  • Number of Illustrations: 5 b/w illustrations, 128 illustrations in colour

  • Topics: Robotics, Computational Intelligence, Aerospace Technology and Astronautics

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