Hybrid visual servoing with hierarchical task composition for aerial manipulation

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Authors: Lippiello, Vincenzo, Cacace, Jonathan, Santamaria Navarro, Àngel|||0000-0002-6328-1423, Andrade-Cetto, Juan|||0000-0002-6354-8941, Trujillo, Miguel Angel, Rodrigez Esteves, Yamnia, Viguria, Antidio
Format: article
Publication Date:2016
Country:España
Institution:Universitat Politècnica de Catalunya (UPC)
Repository:UPCommons. Portal del coneixement obert de la UPC
Language:English
OAI Identifier:oai:upcommons.upc.edu:2117/179386
Online Access:https://hdl.handle.net/2117/179386
https://dx.doi.org/10.1109/LRA.2015.2510749
Access Level:Open access
Keyword:Aerospace robotics
Cascade control
Manipulators
Mobile robots
Robot dynamics
Robot kinematics
Robot vision
Hierarchical control
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/179386
network_acronym_str ES
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repository_id_str
spelling Hybrid visual servoing with hierarchical task composition for aerial manipulationLippiello, VincenzoCacace, JonathanSantamaria Navarro, Àngel|||0000-0002-6328-1423Andrade-Cetto, Juan|||0000-0002-6354-8941Trujillo, Miguel AngelRodrigez Esteves, YamniaViguria, AntidioAerospace roboticsCascade controlManipulatorsMobile robotsRobot dynamicsRobot kinematicsRobot visionHierarchical controlClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::Robòtica© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.Peer ReviewedInstitute of Electrical and Electronics Engineers (IEEE)20162016-01-0120202020-03-06journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/179386https://dx.doi.org/10.1109/LRA.2015.2510749reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)InglésengEuropean Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenanceEuropean Commission http://dx.doi.org/10.13039/100011102 Seventh Framework Programme 287617 Aerial Robotics Cooperative Assembly Systemopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1793862026-05-27T15:37:01Z
dc.title.none.fl_str_mv Hybrid visual servoing with hierarchical task composition for aerial manipulation
title Hybrid visual servoing with hierarchical task composition for aerial manipulation
spellingShingle Hybrid visual servoing with hierarchical task composition for aerial manipulation
Lippiello, Vincenzo
Aerospace robotics
Cascade control
Manipulators
Mobile robots
Robot dynamics
Robot kinematics
Robot vision
Hierarchical control
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Hybrid visual servoing with hierarchical task composition for aerial manipulation
title_full Hybrid visual servoing with hierarchical task composition for aerial manipulation
title_fullStr Hybrid visual servoing with hierarchical task composition for aerial manipulation
title_full_unstemmed Hybrid visual servoing with hierarchical task composition for aerial manipulation
title_sort Hybrid visual servoing with hierarchical task composition for aerial manipulation
dc.creator.none.fl_str_mv Lippiello, Vincenzo
Cacace, Jonathan
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Trujillo, Miguel Angel
Rodrigez Esteves, Yamnia
Viguria, Antidio
author Lippiello, Vincenzo
author_facet Lippiello, Vincenzo
Cacace, Jonathan
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Trujillo, Miguel Angel
Rodrigez Esteves, Yamnia
Viguria, Antidio
author_role author
author2 Cacace, Jonathan
Santamaria Navarro, Àngel|||0000-0002-6328-1423
Andrade-Cetto, Juan|||0000-0002-6354-8941
Trujillo, Miguel Angel
Rodrigez Esteves, Yamnia
Viguria, Antidio
author2_role author
author
author
author
author
author
dc.subject.none.fl_str_mv Aerospace robotics
Cascade control
Manipulators
Mobile robots
Robot dynamics
Robot kinematics
Robot vision
Hierarchical control
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic Aerospace robotics
Cascade control
Manipulators
Mobile robots
Robot dynamics
Robot kinematics
Robot vision
Hierarchical control
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-01-01
2020
2020-03-06
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/179386
https://dx.doi.org/10.1109/LRA.2015.2510749
url https://hdl.handle.net/2117/179386
https://dx.doi.org/10.1109/LRA.2015.2510749
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv European Commission http://doi.org/10.13039/100010661 Horizon 2020 Framework Programme 644271 AErial RObotic system integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance
European Commission http://dx.doi.org/10.13039/100011102 Seventh Framework Programme 287617 Aerial Robotics Cooperative Assembly System
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers (IEEE)
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869417135186378752
score 15,300719

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