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

Projektinformationen

HYFLIERS

ID Finanzhilfevereinbarung: 779411

DOI

10.3030/779411

Projekt abgeschlossen

EK-Unterschriftsdatum 23 November 2017

Startdatum 1 Januar 2018

Enddatum 30 September 2022

Finanziert unter

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

Gesamtkosten

€ 3 897 020,00

EU-Beitrag

€ 3 897 020,00

Koordiniert durch

OULUN YLIOPISTO
Finland

CORDIS bietet Links zu öffentlichen Ergebnissen und Veröffentlichungen von HORIZONT-Projekten.

Links zu Ergebnissen und Veröffentlichungen von RP7-Projekten sowie Links zu einigen Typen spezifischer Ergebnisse wie Datensätzen und Software werden dynamisch von OpenAIRE abgerufen.

Leistungen

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

Veröffentlichungen

Peer reviewed articles (17)

Gravity compensation and optimal control of actuated multibody system dynamics

Autoren: S. R. Nekoo, J. Á. Acosta and A. Ollero
Veröffentlicht in: IET Control Theory Appl, Ausgabe Vol. 16, pp. 79-93, 2022, ISSN 1751-8652
Herausgeber: The Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

Aerial Manipulator with Rolling Base for Inspection of Pipe Arrays

Autoren: Suarez, A. Caballero, A. Garofano, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Veröffentlicht in: IEEE Access, 2020, ISSN 2169-3536
Herausgeber: 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

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

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

Autoren: Margarida Faria; Antonio Sergio Ferreira; Hector Perez-Leon; Ivan Maza; Antidio Viguria
Veröffentlicht in: Sensors, Ausgabe 15, 2019, ISSN 1424-8220
Herausgeber: 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

Autoren: S. R. Nekoo, J. Á. Acosta and A. Ollero
Veröffentlicht in: Robotica, 2022, ISSN 0263-5747
Herausgeber: Cambridge University Press
DOI: 10.1017/s0263574722000091

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

Autoren: A. Caballero, P. J. Sanchez-Cuevas, M. Bejar, G. Heredia, M. A. Trujillo and A. Ollero
Veröffentlicht in: International Journal of Aerospace Engineering, 2020, ISSN 1687-5974
Herausgeber: Hindawi
DOI: 10.1155/2020/6348035

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

Autoren: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Veröffentlicht in: IEEE/CAA Journal of Automatica Sinica, 2022, ISSN 2329-9266
Herausgeber: IEEE

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

Autoren: Suping Zhao; Fabio Ruggiero; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Zhanxia Zhu; Bruno Siciliano
Veröffentlicht in: IEEE ROBOTICS AND AUTOMATION LETTERS, Ausgabe 11, 2019, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2019.2931821

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

Autoren: Carlos Rodríguez de Cos; Manuel J. Fernandez; Pedro J. Sanchez-Cuevas; José Ángel Acosta; Anibal Ollero
Veröffentlicht in: IEEE Access, Ausgabe 15, 2020, ISSN 2169-3536
Herausgeber: 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

Autoren: F. Ruiz, B. C. Arrue and A. Ollero
Veröffentlicht in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2022.3196768

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

Autoren: Vincenzo Lippiello; Jonathan Cacace
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 1, 2022, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2021.3125039

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

Autoren: S. R. Nekoo, J. Á. Acosta and A. Ollero
Veröffentlicht in: International Journal of Control, 2022, ISSN 0020-7179
Herausgeber: Taylor & Francis
DOI: 10.1080/00207179.2021.1881165

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

Autoren: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Veröffentlicht in: IEEE Robotics & Automation Magazine, Ausgabe 26/1, 2019, Seite(n) 44-53, ISSN 1070-9932
Herausgeber: 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

Autoren: Yushu Yu, Vincenzo Lippiello
Veröffentlicht in: IEEE Access, Ausgabe vol. 7, Apr., 2019, ISSN 2169-3536
Herausgeber: Institute of Electrical and Electronics Engineers Inc.

Aerial Manipulation: A Literature Review

Autoren: Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Veröffentlicht in: IEEE Robotics and Automation Letters, Ausgabe 3/3, 2018, Seite(n) 1957-1964, ISSN 2377-3766
Herausgeber: IEEE
DOI: 10.1109/lra.2018.2808541

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

Autoren: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Veröffentlicht in: Mechatronics, 2021, ISSN 0957-4158
Herausgeber: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102641

Cartesian Aerial Manipulator with Compliant Arm

Autoren: Suarez, M. Perez, G. Heredia and A. Ollero
Veröffentlicht in: Applied Sciences, 2021, ISSN 2076-3417
Herausgeber: MDPI
DOI: 10.3390/app11031001

Conference proceedings (16)

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

Autoren: Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Veröffentlicht in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Ausgabe 14, 2021
Herausgeber: ICUAS
DOI: 10.5281/zenodo.4916555

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

Autoren: Roning, Juha; Celentano, Ulrico
Veröffentlicht in: Proceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 2, Pp 406-408 (2021), Ausgabe 6, 2021
Herausgeber: FRUCT
DOI: 10.5281/zenodo.5639789

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

Autoren: A. Lopez-Lora; Pedro J. Sanchez-Cuevas; Alejandro Suarez; A. Garofano-Soldado; Anibal Ollero; Guillermo Heredia
Veröffentlicht in: IROS, Ausgabe 13, 2020
Herausgeber: IEEE
DOI: 10.1109/iros45743.2020.9341639

Ground Support for Drone-based Industrial Inspections

Autoren: Ulrico Celentano; Marko Kauppinen; Juha Röning
Veröffentlicht in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Ausgabe 8, 2021
Herausgeber: IEEE
DOI: 10.1109/airpharo52252.2021.9571042

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

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

Spherical fully covered UAV with autonomous indoor localization

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

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

Autoren: F. Ruiz, B. Arrue and A. Ollero,
Veröffentlicht in: International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Herausgeber: ICUAS Association
DOI: 10.1109/icuas54217.2022.9836149

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

Autoren: S. R. Nekoo, J. Á. Acosta, A. E. Gomez-Tamm and A. Ollero
Veröffentlicht in: RED-UAS, 2019
Herausgeber: IEEE
DOI: 10.1109/reduas47371.2019.8999681

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

Autoren: Juha Röning
Veröffentlicht in: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs., Ausgabe 25 May, 2018
Herausgeber: IEEE

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

Autoren: Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Veröffentlicht in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Ausgabe Nov, 2019
Herausgeber: 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

Autoren: A. Caballero, M. Bejar, A. Ollero
Veröffentlicht in: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Seite(n) 1125-1133, ISBN 978-1-5386-1354-2
Herausgeber: IEEE
DOI: 10.1109/ICUAS.2018.8453392

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

Autoren: Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Veröffentlicht in: ROBOT Iberian Robotics Conference, Ausgabe Nov, Porto, Portugal, 2019
Herausgeber: Springer
DOI: 10.1007/978-3-030-35990-4_6

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

Autoren: Nekoo SR, Acosta JA, Ollero A
Veröffentlicht in: ROBOT Iberian Robotics Conference, Ausgabe Nov, Porto, Portugal, 2019
Herausgeber: ROBOT Iberian Robotics Conference

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

Autoren: S. R. Nekoo, J. Á. Acosta and A. Ollero
Veröffentlicht in: ICUAS, 2020
Herausgeber: IEEE
DOI: 10.1109/icuas48674.2020.9213984

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

Autoren: M. Salvago; F. J. Perez-Gran; J. Parra; M. A. Trujillo; A. Viguria
Veröffentlicht in: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Ausgabe 6, 2021
Herausgeber: IEEE
DOI: 10.5281/zenodo.7373227

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

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

Other (7)

Hyfliers – UT inspections at height in congested pipe racks

Autoren: Russell Brown, Juha Röning
Veröffentlicht in: European Robotics Forum (ERF), Aerial Robotics Technologies and Applications., Ausgabe 20-22 March, 2019
Herausgeber: European Robotics Forum

Presentation of HYFLIERS project

Autoren: Juha Röning, et al.
Veröffentlicht in: European Robotics Forum (ERF 2018), Ausgabe 13-15 Mar, 2018
Herausgeber: European Robotics Forum

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

Autoren: Juha Röning, Anibal Ollero
Veröffentlicht in: Interview by Mikkola A, Finnish newspaper Kaleva, 2018
Herausgeber: Kaleva

HYFLIERS: UT inspections at height in congested pipe racks

Autoren: Russell Brown, Juha Röning
Veröffentlicht in: SPRINT Robotics, World Conference for Inspection and Maintenance Robotics, Ausgabe 13-14 Nov, 2018
Herausgeber: SPRINT Robotics

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

Autoren: Vincenzo Lippiello
Veröffentlicht in: Maker Faire Rome, Ausgabe 12-14 Oct, 2018
Herausgeber: Maker Faire Rome

Drones beyond the hobby

Autoren: Vincenzo Lippiello, Juha Röning
Veröffentlicht in: Maker Faire Rome, Ausgabe 13 Oct, 2018
Herausgeber: Maker Faire Rome

HYFLIERS: Project overview and current achievements (video)

Autoren: Röning, Juha, et al.
Veröffentlicht in: International Conference on Robotics and Automation (ICRA), 2020
Herausgeber: IEEE