Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction: Modelling, Control, Design and Experiments
Karen Bodie · Maximilian Brunner · Mike Allenspach
Dec 2023 · Springer Tracts in Advanced Robotics Book 157 · Springer Nature
Ebook
221
Pages
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About this ebook
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.
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