HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection

Project Information

HYFLIERS

Grant agreement ID: 779411

DOI

10.3030/779411

Project closed

EC signature date 23 November 2017

Start date 1 January 2018

End date 30 September 2022

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost

€ 3 897 020,00

EU contribution

€ 3 897 020,00

Coordinated by

OULUN YLIOPISTO
Finland

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Other (1)

Project web-site

Documents, reports (14)

Visual-force control techniques of a hybrid mobile-aerial platform endowed with a robotic arm for au-tonomous inspection with physical interaction

Visualforce control techniques of a hybrid mobileaerial platform endowed with a robotic arm for autonomous inspection with physical interaction

Human-friendly remote-control modalities and in-terfaces of a hyper-redundant robotic arm

Humanfriendly remotecontrol modalities and interfaces of a hyperredundant robotic arm

Navigation support system and operator interface

Navigation support system and operator interface PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Support platform and services

Support platform and services PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Measurement data management service and path planning algorithm

Measurement data management service and path planning algorithm PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Results of the preliminary testing of the integrated system
Dissemination and exploitation plan

Dissemination and exploitation plan. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Dissemination and exploitation final report

Dissemination and exploitation final report PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Prototype HMR test protocol, test report, data analysis and conclusions

Prototype HMR test protocol test report data analysis and conclusions PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Dissemination and exploitation report P2

Dissemination and exploitation report P2 PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Dissemination and exploitation report P1, and plan update

Dissemination and exploitation report P1 and plan update PUCO An optional CO version may also be delivered to include CO material that could not be included in the PU version

Design of the hybrid robot

Detailed design of the hybrid robots

Prototype HRA test protocol, test report, data analysis and conclusions

Prototype HRA test protocol test report data analysis and conclusions PURE An optional RE version may also be delivered to include RE material that could not be included in the PU version

Project presentation

Demonstrators, pilots, prototypes (3)

Prototypes of the hybrid robots

Prototypes of the hybrid robots. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Hybrid robotic system

Hybrid robotic system. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Lightweight hyper-redundant robotic arm for aerial inspection tasks

Lightweight hyper-redundant robotic arm for aerial inspection tasks. PU+CO: An optional CO version may also be delivered to include CO material that could not be included in the PU version.

Open Research Data Pilot (1)

Data management plan

Data management plan according to the Pilot on Open Research Data in Horizon 2020ORDP CO M6 An optional CO version may also be delivered to include CO material that could not be included in the PU version

Publications

Peer reviewed articles (17)

Gravity compensation and optimal control of actuated multibody system dynamics

Author(s): S. R. Nekoo, J. Á. Acosta and A. Ollero
Published in: IET Control Theory Appl, Issue Vol. 16, pp. 79-93, 2022, ISSN 1751-8652
Publisher: The Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

Aerial Manipulator with Rolling Base for Inspection of Pipe Arrays

Author(s): Suarez, A. Caballero, A. Garofano, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Published in: IEEE Access, 2020, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3021126

Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

Author(s): F.J. Garcia Rubiales, P. Ramon Soria, B.C. Arrue and A. Ollero
Published in: Sensors, 2021, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21124142

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR.

Author(s): Margarida Faria; Antonio Sergio Ferreira; Hector Perez-Leon; Ivan Maza; Antidio Viguria
Published in: Sensors, Issue 15, 2019, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s19224849

Quaternion-based state-dependent differential Riccati equation for quadrotor drones: Regulation control problem in aerobatic flight

Author(s): S. R. Nekoo, J. Á. Acosta and A. Ollero
Published in: Robotica, 2022, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/s0263574722000091

An Aerodynamic Extension for Motion Planning with Dynamics Awareness in Aerial Long-Reach Manipulators

Author(s): A. Caballero, P. J. Sanchez-Cuevas, M. Bejar, G. Heredia, M. A. Trujillo and A. Ollero
Published in: International Journal of Aerospace Engineering, 2020, ISSN 1687-5974
Publisher: Hindawi
DOI: 10.1155/2020/6348035

A PD-Type State-Dependent Riccati Equation with Iterative Learning Augmentation for Mechanical Systems

Author(s): S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Published in: IEEE/CAA Journal of Automatica Sinica, 2022, ISSN 2329-9266
Publisher: IEEE

Nonlinear Model Predictive Control for the Stabilization of a Wheeled Unmanned Aerial Vehicle on a Pipe

Author(s): Suping Zhao; Fabio Ruggiero; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Zhanxia Zhu; Bruno Siciliano
Published in: IEEE ROBOTICS AND AUTOMATION LETTERS, Issue 11, 2019, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2931821

High-Level Modular Autopilot Solution for Fast Prototyping of Unmanned Aerial Systems

Author(s): Carlos Rodríguez de Cos; Manuel J. Fernandez; Pedro J. Sanchez-Cuevas; José Ángel Acosta; Anibal Ollero
Published in: IEEE Access, Issue 15, 2020, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.3044098

SOPHIE: Soft and Flexible Aerial Vehicle for Physical Interaction with the Environment

Author(s): F. Ruiz, B. C. Arrue and A. Ollero
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3196768

Robust Visual Localization of a UAV Over a Pipe-Rack Based on the Lie Group SE(3)

Author(s): Vincenzo Lippiello; Jonathan Cacace
Published in: IEEE Robotics and Automation Letters, Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3125039

Geometric control using the state-dependent Riccati equation: application to aerial-acrobatic maneuvers

Author(s): S. R. Nekoo, J. Á. Acosta and A. Ollero
Published in: International Journal of Control, 2022, ISSN 0020-7179
Publisher: Taylor & Francis
DOI: 10.1080/00207179.2021.1881165

A 3D-Printable Docking System for Aerial Robots: Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications

Author(s): Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Published in: IEEE Robotics & Automation Magazine, Issue 26/1, 2019, Page(s) 44-53, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2018.2884744

6D pose task trajectory tracking for a class of 3D aerial manipulator from differential flatness

Author(s): Yushu Yu, Vincenzo Lippiello
Published in: IEEE Access, Issue vol. 7, Apr., 2019, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.

Aerial Manipulation: A Literature Review

Author(s): Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 1957-1964, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2808541

A benchmark mechatronics platform to assess the inspection around pipes with variable pitch quadrotor for industrial sites

Author(s): S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Published in: Mechatronics, 2021, ISSN 0957-4158
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102641

Cartesian Aerial Manipulator with Compliant Arm

Author(s): Suarez, M. Perez, G. Heredia and A. Ollero
Published in: Applied Sciences, 2021, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app11031001

Conference proceedings (16)

Soft-Landing of Multi-Rotor Drones using a Robust Nonlinear Control and Wind Modeling

Author(s): Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Published in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 14, 2021
Publisher: ICUAS
DOI: 10.5281/zenodo.4916555

Robotic Inspection of Oil and Gas Plants by Hybrid Unmanned Vehicle and Mobile Ground Support Platform

Author(s): Roning, Juha; Celentano, Ulrico
Published in: Proceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 2, Pp 406-408 (2021), Issue 6, 2021
Publisher: FRUCT
DOI: 10.5281/zenodo.5639789

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Author(s): A. Lopez-Lora; Pedro J. Sanchez-Cuevas; Alejandro Suarez; A. Garofano-Soldado; Anibal Ollero; Guillermo Heredia
Published in: IROS, Issue 13, 2020
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341639

Ground Support for Drone-based Industrial Inspections

Author(s): Ulrico Celentano; Marko Kauppinen; Juha Röning
Published in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 8, 2021
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571042

Positioning System for Pipe Inspection with Aerial Robots Using Time of Flight Sensors

Author(s): M. Perez, A. Suarez, G. Heredia and A. Ollero
Published in: Iberian Robotics Conference (ROBOT), 2019, ISSN 2194-5365
Publisher: Springer
DOI: 10.1007/978-3-030-35990-4_2

Spherical fully covered UAV with autonomous indoor localization

Author(s): A. Ramos, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Published in: Iberian Robotics Conference (ROBOT), 2019
Publisher: Springer
DOI: 10.1007/978-3-030-35990-4_29

A flexible propelled arm: Mechanical considerations for the use in UAVs

Author(s): F. Ruiz, B. Arrue and A. Ollero,
Published in: International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Publisher: ICUAS Association
DOI: 10.1109/icuas54217.2022.9836149

Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver

Author(s): S. R. Nekoo, J. Á. Acosta, A. E. Gomez-Tamm and A. Ollero
Published in: RED-UAS, 2019
Publisher: IEEE
DOI: 10.1109/reduas47371.2019.8999681

Hybrid flying-rolling with snake arm robot for oil and gas plant inspection: The HYFLIERS H2020 project

Author(s): Juha Röning
Published in: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs., Issue 25 May, 2018
Publisher: IEEE

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Author(s): Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Published in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Issue Nov, 2019
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8967850

On the use of velocity adaptation to outperform the motion planning with dynamics awareness in aerial long-reach manipulators with two arms

Author(s): A. Caballero, M. Bejar, A. Ollero
Published in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Page(s) 1125-1133, ISBN 978-1-5386-1354-2
Publisher: IEEE
DOI: 10.1109/ICUAS.2018.8453392

Aerodynamic effects in multirotors flying close to obstacles: modelling and mapping

Author(s): Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Published in: ROBOT Iberian Robotics Conference, Issue Nov, Porto, Portugal, 2019
Publisher: Springer
DOI: 10.1007/978-3-030-35990-4_6

Fully coupled six-DoF nonlinear suboptimal control of a quadrotor: Variable-pitch rotor design

Author(s): Nekoo SR, Acosta JA, Ollero A
Published in: ROBOT Iberian Robotics Conference, Issue Nov, Porto, Portugal, 2019
Publisher: ROBOT Iberian Robotics Conference

Collision Avoidance of SDRE Controller using Artificial Potential Field Method: Application to Aerial Robotics

Author(s): S. R. Nekoo, J. Á. Acosta and A. Ollero
Published in: ICUAS, 2020
Publisher: IEEE
DOI: 10.1109/icuas48674.2020.9213984

Robust and Efficient Pose Estimation of Pipes for Contact Inspection using Aerial Robots

Author(s): M. Salvago; F. J. Perez-Gran; J. Parra; M. A. Trujillo; A. Viguria
Published in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Issue 6, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.7373227

Experimental Investigation of Soft-Landing of Quadrotors via Induced Wind Modeling Approach

Author(s): S. R. Nekoo, P. J. Sanchez Cuevas, J. Á. Acosta, G. Heredia and A. Ollero
Published in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021
Publisher: IEEE
DOI: 10.1109/airpharo52252.2021.9571054

Other (7)

Hyfliers – UT inspections at height in congested pipe racks

Author(s): Russell Brown, Juha Röning
Published in: European Robotics Forum (ERF), Aerial Robotics Technologies and Applications., Issue 20-22 March, 2019
Publisher: European Robotics Forum

Presentation of HYFLIERS project

Author(s): Juha Röning, et al.
Published in: European Robotics Forum (ERF 2018), Issue 13-15 Mar, 2018
Publisher: European Robotics Forum

Lentorobotti saa pyörät ja käsivarren - Oulun yliopiston johdolla automatisoidaan kaasu- ja öljyteollisuuden kunnossapitoa (In Finnish)

Author(s): Juha Röning, Anibal Ollero
Published in: Interview by Mikkola A, Finnish newspaper Kaleva, 2018
Publisher: Kaleva

HYFLIERS: UT inspections at height in congested pipe racks

Author(s): Russell Brown, Juha Röning
Published in: SPRINT Robotics, World Conference for Inspection and Maintenance Robotics, Issue 13-14 Nov, 2018
Publisher: SPRINT Robotics

HYFLIERS: HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection

Author(s): Vincenzo Lippiello
Published in: Maker Faire Rome, Issue 12-14 Oct, 2018
Publisher: Maker Faire Rome

Drones beyond the hobby

Author(s): Vincenzo Lippiello, Juha Röning
Published in: Maker Faire Rome, Issue 13 Oct, 2018
Publisher: Maker Faire Rome

HYFLIERS: Project overview and current achievements (video)

Author(s): Röning, Juha, et al.
Published in: International Conference on Robotics and Automation (ICRA), 2020
Publisher: IEEE