UAV with two passive rotating hemispherical shells for physical interaction and power tethering in a complex environment

Carl John Salaan, Kenjiro Tadakuma, Yoshito Okada, Eri Takane, Kazunori Ohno, Satoshi Tadokoro

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

For the past few years, unmanned aerial vehicles (UAVs) have been successfully employed in several investigations and exploration tasks such as aerial inspection and manipulations. However, most of these UAVs are limited to open spaces distant from any obstacles because of the high risk of falling as a result of an exposed propeller or not enough protection. On the other hand, a UAV with a passive rotating spherical shell can fly over a complex environment but cannot engage in physical interaction and perform power tethering because of the passive rotation of the spherical shell. In this study, we propose a new mechanism that allows physical interaction and power tethering while the UAV is well-protected and has a good flight stability, which enables exploration in a complex environment such as disaster sites. We address the current problem by dividing the whole shell into two separate hemispherical shells that provide a gap unaffected by passive rotation. In this paper, we mainly discuss the concept, general applications, and design of the proposed system. The capabilities of the proposed system for physical interaction and power tethering in a complex space were initially verified through laboratory-based test flights of our experimental prototype.

本文言語English
ホスト出版物のタイトルICRA 2017 - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3305-3312
ページ数8
ISBN(電子版)9781509046331
DOI
出版ステータスPublished - 2017 7 21
イベント2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Singapore, Singapore
継続期間: 2017 5 292017 6 3

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2017 IEEE International Conference on Robotics and Automation, ICRA 2017
CountrySingapore
CitySingapore
Period17/5/2917/6/3

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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