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iDEAS-3D
iDEAS-3D
Distributed EstimAtion of State and inertial parameters of an unknown load manipulated by a team of mobile robots in the 3D space
Distributed EstimAtion of State and inertial parameters of an unknown load manipulated by a team of mobile robots in the 3D space
Abstract
Abstract
Cooperative manipulation is one of the most relevant research topics in the robotics community. In particular, a network of mobile manipulators is a suitable tool for transportation in search and rescue missions, environmental monitoring, and for pick-n-place tasks in industry.
In this context, the iDEAS-3D project aims to the study and development of novel distributed algorithms for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown body manipulated by a network of mobile robots in the 3D space.
This activities will be grounded on the early work carried out by the proponent in collaboration with the Robotics and InteractionS (RIS) research group of the LAAS-CNRS, Toulouse, France. Early work has dealt with the planar manipulation case, while the iDEAS-3D project will address issues related to 3D manipulation. Real-world laboratory validation of the new algorithms will be performed to validate the proposed methods.
Activities
Activities
The Fly-Crane is a multi-robot aerial manipulator system composed by three aerial vehicles towed to a platform by means of six cables.
The aim of this activity is to estimate the mass and the position of the center of mass of the platform, whose precise knowledge allows to enhance the tracking performance of a full-pose controller.
The estimation is based on the measure of the forces applied by the aerial vehicles to the platform in different static configurations.
We demonstrate that only two different configurations are sufficient to estimate the inertial parameters. Far from ideal numerical simulations show the effectiveness of the estimation method. Once the parameters are estimated, we show the enhancement of the tracking performance using a standard control strategy.
Related Publications
Related Publications
- Petitti, A., Sanalitro, D., Tognon, M., Milella, A. & Franchi, A. (2020). An Inertial Parameter Estimation Algorithm for the Control of Towed-Cable Multi-Robot Systems. submitted to Transactions on Robotics.
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