|Title||The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance|
|Publication Type||Journal Article|
|Year of Publication||2018|
|Authors||Ollero, A, Heredia, G, Franchi, A, Antonelli, G, Kondak, K, Sanfeliu, A, Viguria, A, de Dios, JRMartine, Pierri, F, Cortés, J, Santamaria-Navarro, A, Trujillo, MA, Balachandran, R, Andrade-Cetto, J, Rodriguez, A|
|Journal||IEEE Robotics and Automation Magazine, Special Issue on Floating-base (Aerial and Underwater) Manipulation|
This paper summarizes new aerial robotic manipu- lation technologies and methods, required for outdoor industrial inspection and maintenance, developed in the AEROARMS project. It presents aerial robotic manipulators with dual arms and multi-directional thrusters. It deals with the control systems, including the control of the interaction forces and the compliance, the teleoperation, which uses passivity to tackle the trade- off between stability and performance, perception methods for localization, mapping and inspection, and planning methods, including a new control-aware approach for aerial manipulation. Finally, it describes a novel industrial platform with multi- directional thrusters and a new arm design to increase the robustness in industrial contact inspections. The lessons learned in the application to outdoor aerial manipulation for inspection and maintenance are pointed out.