Publications
5 results found
Nguyen H-N, Park S, Park J, et al., 2018, A novel robotic platform for aerial manipulation using quadrotors as rotating thrust generators, IEEE Transactions on Robotics, Vol: 34, Pages: 353-369, ISSN: 1552-3098
We propose a novel robotic platform for aerial op-eration and manipulation, a spherically connected multiquadro-tor (SmQ) platform, which consists of a rigid frame and multiplequadrotors that are connected to the frame via passive sphericaljoints and act as distributed rotating thrust generators to collec-tively propel the frame by adjusting their attitude and thrust force.Depending on the number of quadrotors and their configuration,this SmQ platform can fully (or partially) overcome the issues ofunderactuation of the standard multirotor drones for aerial oper-ation/manipulation (e.g., body-tilting with sideway gust/force, dy-namic interaction hard to attain, complicated arm–drone integra-tion, etc.). We present the dynamics modeling of this SmQ platformsystem and establish the condition for its full actuation in SE(3).We also show how to address limited range of spherical joints androtor saturations as a constrained optimization problem by notic-ing the similarity with the multifingered grasping problem underthe friction-cone constraint. We then design and analyze feedbackcontrol laws for the S3Q and S2Q systems as a combination ofhigh-level Lyapunov control design and low-level constrained opti-mization and show that the (fully actuated) S3Q system can assumeany trajectory in SE(3), whereas the S2Q system in 3×S2withits unactuated dynamics is still internally stable. Experiments arealso performed to show the efficacy of the theory.
Bak J, Nguyen H-N, Park S, et al., 2017, Positioning control of an underwater robot with tilting thrusters via decomposition of thrust vector, International Journal of Control, Automation and Systems, Vol: 15, Pages: 2283-2291, ISSN: 1598-6446
Nguyen H-N, Park S, Lee DJ, 2015, Aerial Tool Operation System using Quadrotors as Rotating Thrust Generators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages: 1285-1291
Nguyen H-N, Ha C, Lee D, 2015, Mechanics, control and internal dynamics of quadrotor tool operation, Automatica, Vol: 61, Pages: 289-301, ISSN: 0005-1098
Nguyen H-N, Lee DJ, 2013, Hybrid force/motion control and internal dynamics of quadrotors for tool operation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages: 3458-3464
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