TY - GEN
T1 - Design and Control of SQUEEZE
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
AU - Patnaik, Karishma
AU - Mishra, Shatadal
AU - Sorkhabadi, Seyed Mostafa Rezayat
AU - Zhang, Wenlong
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - This paper presents the design and control of a novel quadrotor with a variable geometry to physically interact with cluttered environments and fly through narrow gaps and passageways. This compliant quadrotor with passive morphing capabilities is designed using torsional springs at every arm hinge to allow for rotation driven by external forces. We derive the dynamic model of this variable geometry quadrotor (SQUEEZE), and develop an adaptive controller for trajectory tracking. The corresponding Lyapunov stability proof of attitude tracking is also presented. Further, an admittance controller is designed to account for changes in yaw due to physical interactions with the environment. Finally, the proposed design is validated in flight tests with two setups: a small gap and a passageway. The experimental results demonstrate the unique capability of the SQUEEZE in navigating through constrained narrow spaces.
AB - This paper presents the design and control of a novel quadrotor with a variable geometry to physically interact with cluttered environments and fly through narrow gaps and passageways. This compliant quadrotor with passive morphing capabilities is designed using torsional springs at every arm hinge to allow for rotation driven by external forces. We derive the dynamic model of this variable geometry quadrotor (SQUEEZE), and develop an adaptive controller for trajectory tracking. The corresponding Lyapunov stability proof of attitude tracking is also presented. Further, an admittance controller is designed to account for changes in yaw due to physical interactions with the environment. Finally, the proposed design is validated in flight tests with two setups: a small gap and a passageway. The experimental results demonstrate the unique capability of the SQUEEZE in navigating through constrained narrow spaces.
UR - http://www.scopus.com/inward/record.url?scp=85102397583&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85102397583&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9341730
DO - 10.1109/IROS45743.2020.9341730
M3 - Conference contribution
AN - SCOPUS:85102397583
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1364
EP - 1370
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 24 October 2020 through 24 January 2021
ER -