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

Resultado final

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

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.

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

Publicaciones

Gravity compensation and optimal control of actuated multibody system dynamics

Autores: S. R. Nekoo, J. Á. Acosta and A. Ollero
Publicado en: IET Control Theory Appl, Edición Vol. 16, pp. 79-93, 2022, ISSN 1751-8652
Editor: The Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

Aerial Manipulator with Rolling Base for Inspection of Pipe Arrays

Autores: Suarez, A. Caballero, A. Garofano, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Publicado en: IEEE Access, 2020, ISSN 2169-3536
Editor: 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

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

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

Autores: Margarida Faria; Antonio Sergio Ferreira; Hector Perez-Leon; Ivan Maza; Antidio Viguria
Publicado en: Sensors, Edición 15, 2019, ISSN 1424-8220
Editor: 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

Autores: S. R. Nekoo, J. Á. Acosta and A. Ollero
Publicado en: Robotica, 2022, ISSN 0263-5747
Editor: Cambridge University Press
DOI: 10.1017/s0263574722000091

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

Autores: A. Caballero, P. J. Sanchez-Cuevas, M. Bejar, G. Heredia, M. A. Trujillo and A. Ollero
Publicado en: International Journal of Aerospace Engineering, 2020, ISSN 1687-5974
Editor: Hindawi
DOI: 10.1155/2020/6348035

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

Autores: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Publicado en: IEEE/CAA Journal of Automatica Sinica, 2022, ISSN 2329-9266
Editor: IEEE

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

Autores: Suping Zhao; Fabio Ruggiero; Giuseppe Andrea Fontanelli; Vincenzo Lippiello; Zhanxia Zhu; Bruno Siciliano
Publicado en: IEEE ROBOTICS AND AUTOMATION LETTERS, Edición 11, 2019, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2019.2931821

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

Autores: Carlos Rodríguez de Cos; Manuel J. Fernandez; Pedro J. Sanchez-Cuevas; José Ángel Acosta; Anibal Ollero
Publicado en: IEEE Access, Edición 15, 2020, ISSN 2169-3536
Editor: 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

Autores: F. Ruiz, B. C. Arrue and A. Ollero
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3196768

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

Autores: Vincenzo Lippiello; Jonathan Cacace
Publicado en: IEEE Robotics and Automation Letters, Edición 1, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3125039

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

Autores: S. R. Nekoo, J. Á. Acosta and A. Ollero
Publicado en: International Journal of Control, 2022, ISSN 0020-7179
Editor: Taylor & Francis
DOI: 10.1080/00207179.2021.1881165

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

Autores: Pablo Ramon Soria, B.C. Arrue, Anibal Ollero
Publicado en: IEEE Robotics & Automation Magazine, Edición 26/1, 2019, Página(s) 44-53, ISSN 1070-9932
Editor: 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

Autores: Yushu Yu, Vincenzo Lippiello
Publicado en: IEEE Access, Edición vol. 7, Apr., 2019, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.

Aerial Manipulation: A Literature Review

Autores: Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Publicado en: IEEE Robotics and Automation Letters, Edición 3/3, 2018, Página(s) 1957-1964, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2018.2808541

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

Autores: S. R. Nekoo, J. Á. Acosta, G. Heredia and A. Ollero
Publicado en: Mechatronics, 2021, ISSN 0957-4158
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechatronics.2021.102641

Cartesian Aerial Manipulator with Compliant Arm

Autores: Suarez, M. Perez, G. Heredia and A. Ollero
Publicado en: Applied Sciences, 2021, ISSN 2076-3417
Editor: MDPI
DOI: 10.3390/app11031001

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

Autores: Nekoo, S. R.; Acosta, J. A.; Heredia, G.; Ollero, A.
Publicado en: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Edición 14, 2021
Editor: ICUAS
DOI: 10.5281/zenodo.4916555

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

Autores: Roning, Juha; Celentano, Ulrico
Publicado en: Proceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 2, Pp 406-408 (2021), Edición 6, 2021
Editor: FRUCT
DOI: 10.5281/zenodo.5639789

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

Autores: A. Lopez-Lora; Pedro J. Sanchez-Cuevas; Alejandro Suarez; A. Garofano-Soldado; Anibal Ollero; Guillermo Heredia
Publicado en: IROS, Edición 13, 2020
Editor: IEEE
DOI: 10.1109/iros45743.2020.9341639

Ground Support for Drone-based Industrial Inspections

Autores: Ulrico Celentano; Marko Kauppinen; Juha Röning
Publicado en: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Edición 8, 2021
Editor: IEEE
DOI: 10.1109/airpharo52252.2021.9571042

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

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

Spherical fully covered UAV with autonomous indoor localization

Autores: A. Ramos, P. J. Sanchez-Cuevas, G. Heredia and A. Ollero
Publicado en: Iberian Robotics Conference (ROBOT), 2019
Editor: Springer
DOI: 10.1007/978-3-030-35990-4_29

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

Autores: F. Ruiz, B. Arrue and A. Ollero,
Publicado en: International Conference on Unmanned Aircraft Systems (ICUAS), 2022
Editor: ICUAS Association
DOI: 10.1109/icuas54217.2022.9836149

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

Autores: S. R. Nekoo, J. Á. Acosta, A. E. Gomez-Tamm and A. Ollero
Publicado en: RED-UAS, 2019
Editor: IEEE
DOI: 10.1109/reduas47371.2019.8999681

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

Autores: Juha Röning
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), Workshop on Aerial Robotic Inspection and Maintenance: Research Challenges, Field Experience and Industry Needs., Edición 25 May, 2018
Editor: IEEE

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments - Green Open Access. - Embargo: 0 - Peer-reviewed? YES - Public-private publication? NO - Type: Conference proceedings - Publisher: IEEE

Autores: Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Publicado en: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edición Nov, 2019
Editor: IEEE

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

Autores: A. Caballero, M. Bejar, A. Ollero
Publicado en: 2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018, Página(s) 1125-1133, ISBN 978-1-5386-1354-2
Editor: IEEE
DOI: 10.1109/ICUAS.2018.8453392

Multirotor aerodynamic effects close to obstacles: Modelling and mapping

Autores: Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Publicado en: ROBOT Iberian Robotics Conference, Edición Nov, Porto, Portugal, 2019
Editor: ROBOT Iberian Robotics Conference

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

Autores: Nekoo SR, Acosta JA, Ollero A
Publicado en: ROBOT Iberian Robotics Conference, Edición Nov, Porto, Portugal, 2019
Editor: ROBOT Iberian Robotics Conference

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

Autores: S. R. Nekoo, J. Á. Acosta and A. Ollero
Publicado en: ICUAS, 2020
Editor: IEEE
DOI: 10.1109/icuas48674.2020.9213984

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

Autores: M. Salvago; F. J. Perez-Gran; J. Parra; M. A. Trujillo; A. Viguria
Publicado en: Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), Edición 6, 2021
Editor: IEEE
DOI: 10.5281/zenodo.7373227

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

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

Hyfliers – UT inspections at height in congested pipe racks

Autores: Russell Brown, Juha Röning
Publicado en: European Robotics Forum (ERF), Aerial Robotics Technologies and Applications., Edición 20-22 March, 2019
Editor: European Robotics Forum

Presentation of HYFLIERS project

Autores: Juha Röning, et al.
Publicado en: European Robotics Forum (ERF 2018), Edición 13-15 Mar, 2018
Editor: European Robotics Forum

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

Autores: Juha Röning, Anibal Ollero
Publicado en: Interview by Mikkola A, Finnish newspaper Kaleva, 2018
Editor: Kaleva

HYFLIERS: UT inspections at height in congested pipe racks

Autores: Russell Brown, Juha Röning
Publicado en: PRINT Robotics, World Conference for Inspection and Maintenance Robotics, Edición 13-14 Nov, 2018
Editor: PRINT Robotics

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

Autores: Vincenzo Lippiello
Publicado en: Maker Faire Rome, Edición 12-14 Oct, 2018
Editor: Maker Faire Rome

Drones beyond the hobby

Autores: Vincenzo Lippiello, Juha Röning
Publicado en: Maker Faire Rome, Edición 13 Oct, 2018
Editor: Maker Faire Rome

HYFLIERS: Project overview and current achievements (video)

Autores: Röning, Juha, et al.
Publicado en: International Conference on Robotics and Automation (ICRA), 2020
Editor: IEEE

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