%0 Journal Article
%T Transformable multirotor with two
%A Fan Shi
%A Kei Okada
%A Koji Kawasaki
%A Masayuki Inaba
%A Moju Zhao
%A Shintaro Noda
%A Tomoki Anzai
%A Xiangyu Chen
%J The International Journal of Robotics Research
%@ 1741-3176
%D 2018
%R 10.1177/0278364918801639
%X A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear¨Cquadratic¨Cintegral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to grasping to perform the whole-body aerial manipulation. A grasp-form searching method was developed to optimize hovering thrust force and joint torque under force-closure grasp, and was followed by an aerial approach and grasp-motion strategy to fulfill the resulting desired grasp form. Finally, experimental results demonstrate the stable aerial transformation as well as the feasibility of the whole-body aerial manipulation system to grasp and carry different types of objects
%K transformable multirotor
%K modeling and control
%K aerial manipulation
%U https://journals.sagepub.com/doi/full/10.1177/0278364918801639