Achievement of Online Agile Manipulation Task for Aerial Transformable Multilink Robot

摘要

Transformable aerial robots are favorable in aerial manipulation tasks for their flexible ability to change configuration during the flight. By assuming robot keeping in the mild motion, the previous researches sacrifice aerial agility to simplify the complex non-linear system into a single rigid body with a linear controller. In this paper, we present a framework towards agile swing motion for the transformable multi-links aerial robot. We introduce a computational-efficient non-linear model predictive controller and joints motion primitive frame-work to achieve agile transforming motions and validate with a novel robot named HYRURS-X. Finally, we implement our framework under a table tennis task to validate the online and agile performance.Supplementary MaterialThis paper is accompanied by a experiment video: http://www.jsk.t.u-tokyo.ac.jp/%7eshifan/paper/iros19/video.mp4.