Chat-PM: A Class of Composite Hybrid Aerial/Terrestrial Precise Manipulator
Yihang Ding, Xiaoyu Ji, Lixian Zhang, Yifei Dong, Tong Wu, Chengzhe, Han

TL;DR
This paper introduces Chat-PM, a hybrid aerial/terrestrial manipulator with advanced control and force estimation techniques, demonstrating improved reachability, precision, and energy efficiency through real-world experiments.
Contribution
The paper presents a novel composite hybrid manipulator design with integrated dynamics modeling, motion control, and force estimation methods for enhanced terrestrial and aerial manipulation.
Findings
Higher control precision achieved in terrestrial mode
Effective force and inclination estimation on unknown surfaces
Demonstrated superior manipulation performance in real-world tests
Abstract
This paper concentrates on the development of Chat-PM, a class of composite hybrid aerial/terrestrial manipulator, in concern with composite configuration design, dynamics modeling, motion control and force estimation. Compared with existing aerial or terrestrial mobile manipulators, Chat-PM demonstrates advantages in terms of reachability, energy efficiency and manipulation precision. To achieve precise manipulation in terrestrial mode, the dynamics is analyzed with consideration of surface contact, based on which a cascaded controller is designed with compensation for the interference force and torque from the arm. Benefiting from the kinematic constraints caused by the surface contact, the position deviation and the vehicle vibration are effectively decreased, resulting in higher control precision of the end gripper. For manipulation on surfaces with unknown inclination angles, the…
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Taxonomy
TopicsRobotic Path Planning Algorithms · Control and Dynamics of Mobile Robots · Robotics and Sensor-Based Localization
