A Lightweight Modular Continuum Manipulator with IMU-based Force Estimation

TL;DR

This paper introduces a lightweight, modular continuum manipulator for aerial drones that uses IMU sensors for force estimation, aiming to improve contact compliance and flight stability during manipulation.

Contribution

It presents a novel cable-driven continuum manipulator design with a comprehensive modeling framework and a simple IMU-based force estimation method for aerial manipulation.

Findings

Successful hardware prototype validation

Preliminary IMU-based force estimation results

Insights into manipulation feasibility with the new design

Abstract

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance of continuum manipulators. To achieve this goal, we present the novel design of a compact, lightweight, and modular cable-driven continuum manipulator for aerial drones. We then derive a complete modeling framework for its kinematics, statics, and stiffness (compliance). The modeling framework can guide the control and design problems to integrate the manipulator to aerial drones. In addition, thanks to the derived stiffness (compliance) matrix, and using a low-cost IMU sensor to capture deformation angles, we present a simple method to estimate manipulation force at the tip of the manipulator. We report preliminary experimental validations of the hardware prototype, providing insights on its manipulation feasibility. We also report preliminary results of the IMU-based force estimation method.