General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety

Deliverables

Open Research Data Pilot (1)

Data Management Plan (DMP)

Describes the data management life cycle for the data to be collected, processed and/or generated. It will include new innovation potential or decision to file for a patent if relevant.

Publications

Peer reviewed articles (13)

Winged Aerial Manipulation Robot with Dual Arm and Tail

Author(s): Alejandro Suarez, Pedro Grau, Guillermo Heredia, Anibal Ollero
Published in: Applied Sciences, 10/14, 2020, Page(s) 4783, ISSN 2076-3417
Publisher: Applied Sciences, MDPI
DOI: 10.3390/app10144783

Design of the High-Payload Flapping Wing Robot E-Flap

Author(s): Raphael Zufferey, Jesus Tormo-Barbero, M. Mar Guzman, Fco. Javier Maldonado, Ernesto Sanchez-Laulhe, Pedro Grau, Martin Perez, Jose Angel Acosta, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 6/2, 2021, Page(s) 3097-3104, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3061373

Gravity compensation and optimal control of actuated multibody system dynamics

Author(s): Saeed Rafee Nekoo, José Ángel Acosta, Anibal Ollero
Published in: IET Control Theory & Applications, 2021, ISSN 1751-8644
Publisher: Institution of Engineering and Technology
DOI: 10.1049/cth2.12206

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

Author(s): Juan Pablo Rodriguez-Gomez, Raul Tapia, Julio L. Paneque, Pedro Grau, Augusto Gomez Eguiluz, Jose Ramiro Martinez-de-Dios, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 6/2, 2021, Page(s) 1066-1073, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2021.3056348

Control Aware of Limitations of Manipulators With Claw for Aerial Robots Imitating Bird's Skeleton

Author(s): Daniel Feliu-Talegon, Jose Angel Acosta, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 6/4, 2021, Page(s) 6426-6433, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/lra.2021.3093282

A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control

Author(s): Daniel Feliu-Talegon, José Ángel Acosta, Alejandro Suarez, Anibal Ollero
Published in: Applied Sciences, 10/18, 2020, Page(s) 6516, ISSN 2076-3417
Publisher: Applied Sciences, MDPI
DOI: 10.3390/app10186516

Auto-tuned event-based perception scheme for intrusion monitoring with UAS

Author(s): Juan Pablo Rodriguez-Gomez, Augusto Gomez Eguiluz, Jose Ramiro Martinez-de Dios, Anibal Ollero
Published in: IEEE Access, 2021, Page(s) 1-1, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3066529

Past, Present, and Future of Aerial Robotic Manipulators

Author(s): A. Ollero, M. Tognon, A. Suarez, D. Lee, A. Franchi
Published in: IEEE Transactions on Robotics, 2021, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2021.3084395

Benchmarks for Aerial Manipulation

Author(s): Alejandro Suarez, Victor M. Vega, Manuel Fernandez, Guillermo Heredia, Anibal Ollero
Published in: IEEE Robotics and Automation Letters, 5/2, 2020, Page(s) 2650-2657, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2020.2972870

Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations

Author(s): Alejandro Suarez, Rafael Salmoral, Pedro J. Zarco-Perinan, Anibal Ollero
Published in: IEEE Access, 9, 2021, Page(s) 94573-94585, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3093856

Compliant Bimanual Aerial Manipulation: Standard and Long Reach Configurations

Author(s): Alejandro Suarez, Fran Real, Victor M. Vega, Guillermo Heredia, Angel Rodriguez-Castano, Anibal Ollero
Published in: IEEE Access, 8, 2020, Page(s) 88844-88865, ISSN 2169-3536
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2020.2993101

Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

Author(s): Alejandro Suarez, Pedro J. Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
Published in: Applied Sciences, 10/24, 2020, Page(s) 8927, ISSN 2076-3417
Publisher: Applied Science
DOI: 10.3390/app10248927

Bio-Inspired Morphing Tail for Flapping-Wings Aerial Robots Using Macro Fiber Composites

Author(s): Vicente Perez-Sanchez, Alejandro E. Gomez-Tamm, Emanuela Savastano, Begoña C. Arrue, Anibal Ollero
Published in: Applied Sciences, 11/7, 2021, Page(s) 2930, ISSN 2076-3417
Publisher: Applied Sciences, MPDI
DOI: 10.3390/app11072930

Conference proceedings (23)

POSITRON: lightweight active positioning compliant joints robotic armin power lines inspection

Author(s): M. Perez-Jimenez, M.A. Montes-Grova, P. Ramon-Soria, B.C. Arrue and A. Ollero
Published in: 2020 International Conference on Unmanned Aircraft Systems, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3816962

Why fly blind? Event-based visual guidance for ornithopter robot flight

Author(s): Eguíluz, A. Gómez; Rodríguez-Gómez, J. P.; Tapia, R.; Maldonado, F. J.; Acosta, J. Á.; Dios, J.R. Martínez-De; Ollero, A.
Published in: 2021 International Conference on Intelligent Robots and Systems (IROS), 3, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.5069951

Towards UAS Surveillance using Event Cameras

Author(s): J.R. Martínez-de Dios; A. Gómez Eguíluz; J.P. Rodríguez-Gómez; R. Tapia; A. Ollero
Published in: 2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2020
Publisher: IEEE Xplore
DOI: 10.1109/ssrr50563.2020.9292606

Analysis of Forces Involved in the Perching Maneuver of Flapping-Wing Aerial Systems and Development of Ultra-Lightweight Perching System

Author(s): Perez-Sanchez, V.; Gomez-Tamm, A.E.; Garcia-Rubiales, F.J.; Arrue, B.C.; Ollero, A.
Published in: International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021, 6, 2021
Publisher: ICUAS
DOI: 10.5281/zenodo.5005088

Design and manufacture of the folding mechanism for a Bioinspired Ornithopter

Author(s): Calvente, L.; Acosta, J. A.; Ollero, A.
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 7, 2021
Publisher: IEEE
DOI: 10.5281/zenodo.4922626

ASAP: Adaptive Scheme for Asynchronous Processing of event-based vision algorithms

Author(s): Tapia, Raul; G��mez Egu��luz, Augusto; Mart��nez-de Dios, Jose Ramiro; Ollero, Anibal
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA) Workshop on Unconventional Sensors in Ro, 6, 2020
Publisher: IEEE International Conference on Robotics and Automation (ICRA) Workshop on Unconventional Sensors in Robotics
DOI: 10.5281/zenodo.3855413

Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS

Author(s): A. Gomez Eguiluz, J.P. Rodriguez-Gomez, J.R. Martinez-de Dios, A. Ollero
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 5978-5985, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341240

Event-based human intrusion detection in UAS using Deep Learning

Author(s): Pérez-Cutiño, Miguel Angel; Gómez-Eguíluz, Augusto; Martínez-de Dios, José Ramiro; Ollero, Aníbal
Published in: International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, June 2021, 6, 2021
Publisher: ICUAS
DOI: 10.5281/zenodo.4944052

Winged Aerial Robot: Modular Design Approach

Author(s): Ivan Diez-de-los-Rios, Alejandro Suarez, Ernesto Sanchez-Laulhe, Inmaculada Armengol, Anibal Ollero
Published in: 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2021, Page(s) 190-195, ISBN 978-1-6654-1764-8
Publisher: 2021 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
DOI: 10.1109/ssrr53300.2021.9597868

SMA Actuated Low-Weight Bio-Inspired Claws for Grasping and Perching Using Flapping Wing Aerial Systems

Author(s): A. E. Gomez-Tamm, V. Perez-Sanchez, B. C. Arrue, A. Ollero
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 8807-8814, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341741

A Simple Model for Gliding and Low-Amplitude Flapping Flight of a Bio-Inspired UAV

Author(s): A. Martin-Alcantara, P. Grau, R. Fernandez-Feria, A. Ollero
Published in: 2019 International Conference on Unmanned Aircraft Systems (ICUAS), 1, 2019, Page(s) 729-737, ISBN 978-1-7281-0333-4
Publisher: IEEE
DOI: 10.1109/ICUAS.2019.8798233

Towards flapping wing robot visual perception: Opportunities and challenges

Author(s): A. Gomez Eguiluz, J.P. Rodriguez-Gomez, J.L. Paneque, P. Grau, J.R. Martinez de Dios, A. Ollero
Published in: 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), 1, 2019, Page(s) 335-343, ISBN 978-1-7281-6600-1
Publisher: IEEE
DOI: 10.1109/REDUAS47371.2019.8999674

Asynchronous event-based clustering and tracking for intrusion monitoring in UAS

Author(s): J.P. Rodríguez-Gómez, A. Gómez Eguíluz, J.R. Martínez-de Dios and A. Ollero
Published in: 2020 International Conference on Robotics and Automation, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3816654

Effects of Unsteady Aerodynamics on Gliding Stability of a Bio-Inspired UAV

Author(s): Sanchez-Laulhe, Ernesto; Fernandez-Feria, Ramon; Acosta, José Ángel; Ollero, Anibal
Published in: 2020 International Conference on Unmanned Aircraft Systems, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3816719

Current State and Trends on Bioinspired Actuators for Aerial Manipulation

Author(s): A. E. Gomez-Tamm, P. Ramon-Soria, B.C. Arrue, A. Ollero
Published in: 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), 1, 2019, Page(s) 352-361, ISBN 978-1-7281-6600-1
Publisher: IEEE
DOI: 10.1109/reduas47371.2019.8999715

A Linearized Model for an Ornithopter in Gliding Flight: Experiments and Simulations

Author(s): R. Lopez-Lopez, V. Perez-Sanchez, P. Ramon-Soria, A. Martin-Alcantara, R. Fernandez-Feria, B.C. Arrue, A. Ollero
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 7008-7014, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196929

POSITRON: lightweight active positioning compliant joints robotic arm in power lines inspection

Author(s): Perez-Jimenez, M.; Montes-Grova, M. A.; Ramon-Soria, P.; Arrue, B. C; Ollero, A.
Published in: 2020 International Conference on Unmanned Aircraft Systems, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3816962

Small-Scale Compliant Dual Arm with Tail for Winged Aerial Robots

Author(s): Alejandro Suarez, Manuel Perez, Guillermo Heredia, Anibal Ollero
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1, 2019, Page(s) 208-214, ISBN 978-1-7281-4004-9
Publisher: IEEE
DOI: 10.1109/iros40897.2019.8967972

ASAP: Adaptive Scheme for Asynchronous Processing of event-based vision algorithms

Author(s): Raul Tapia; Augusto Gómez Eguíluz; Jose Ramiro Martínez-de Dios; Anibal Ollero
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA) Workshop on Unconventional Sensors in Ro, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.3855413

UAV human teleoperation using event-based and frame-based cameras

Author(s): J.P. Rodríguez-Gómez; R. Tapia; A. Gómez Eguíluz; J. R. Martínez-de Dios; A. Ollero
Published in: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), 2021
Publisher: IEEE EXPLORE
DOI: 10.1109/airpharo52252.2021.9571049

ASAP: Adaptive Scheme for Asynchronous Processing of event-basedvision algorithms

Author(s): R. Tapia, A. Gómez Eguíluz, J.R. Martínez-de Dios and A. Ollero
Published in: IEEE International Conference on Robotics and Automation (ICRA) 2020, 1, 2020
Publisher: IEEE
DOI: 10.5281/zenodo.5082199

Design and comparison of tails for bird-scaleflapping-wing robots

Author(s): Guzmán, M.M.; Páez, C. Ruiz; Maldonado, F. J.; Zufferey, R.; Tormo-Barbero, J.; Acosta, J.Á; Ollero, A.
Published in: IEEE ACCESS, 7, 2021
Publisher: IEEE ACCESS
DOI: 10.5281/zenodo.4917248

Adaptive Nonlinear Control For Perching of a Bioinspired Ornithopter

Author(s): F. J. Maldonado, J. A. Acosta, J. Tormo-Barbero, P. Grau, M. M. Guzman, A. Ollero
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 1385-1390, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341793

Non-peer reviewed articles (1)

Kinodynamic planning for an energy-efficient autonomous ornithopter

Author(s): Fabio Rodríguez, José-Miguel Díaz-Báñez, Ernesto Sanchez-Laulhe, Jesús Capitán, Aníbal Ollero
Published in: Computers & Industrial Engineering, 2021, Page(s) 107814, ISSN 0360-8352
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.cie.2021.107814

Book chapters (3)

Online Detection and Tracking of Pipes During UAV Flight in Industrial Environments

Author(s): Augusto Gómez Eguíluz, Julio Lopez Paneque, José Ramiro Martínez-de Dios, Aníbal Ollero
Published in: Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 1, 1092, 2020, Page(s) 28-39, ISBN 978-3-030-35989-8
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-35990-4_3

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Author(s): Alejandro Ernesto Gomez-Tamm, Pablo Ramon-Soria, B. C. Arrue, Aníbal Ollero
Published in: Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 1, 1092, 2020, Page(s) 40-51, ISBN 978-3-030-35989-8
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-35990-4_4

ROSS-LAN: RObotic Sensing Simulation Scheme for Bioinspired Robotic Bird LANding

Author(s): Juan Pablo Rodríguez-Gómez, Augusto Gómez Eguíluz, José Ramiro Martínez-de Dios, Aníbal Ollero
Published in: Robot 2019: Fourth Iberian Robotics Conference - Advances in Robotics, Volume 2, 1093, 2020, Page(s) 48-59, ISBN 978-3-030-36149-5
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-36150-1_5