Spherically-connected multi-Quadrotor Platform (SmQ)
SmQ platform is a new platform for aerial manipulation, which consists of a tool (or frame) with multiple quadrotors connected to that by spherical joints, acting as distributed rotating thrust generators. Lyapunov control design is performed while taking into account the spherical joint limits in a form of real-time constrained optimization.
Publications
Hai-Nguyen Nguyen, Sangyul Park, Junyoung Park, Dongjun Lee "A novel robotic platform for aerial manipulation using Quadrotors as Rotating Thrust Generators",
IEEE Transactions on Robotics,
2016.
(in revision)
[S3Q-Platform]
[S2Q-Platform]
[featured in IEEE Spectrum]
[in Interesting Engineering]
Hai-Nguyen Nguyen, Sangyul Park, Dongjun Lee "Aerial Tool Operation System using Quadrotors as Rotating Thrust Generators",
IROS,
1285-1291,
2015.
[manuscript]
[slides]
[video]
[featured in IEEE Spectrum]
Quadrotor-Tool System (QT)
We propose a novel control framework to enable a quadrotor to operate a tool attached on it. We fully characterize the internal dynamics of the spatial quadrotor tool operation, which arises due to the quadrotor’s under-actuation, and elucidate a seemingly counter-intuitive necessary condition for the internal stability, that is, the tool-tip should be located above the quadrotor’s center-of-mass. We further manifest that this internal dynamics can exhibit finite-time escape and propose a stabilizing action to prevent that.
Publications
Hai-Nguyen Nguyen, Chansu Ha, Dongjun Lee "Mechanics, control and internal dynamics of quadrotor tool operation",
Automatica,
61,
289-301,
2015.
[manuscript]
[video 1]
[video 2]
Hai-Nguyen Nguyen, Dongjun Lee "Hybrid force/motion control and internal dynamics of quadrotors for tool operation",
IROS,
289-301,
2013.
[manuscript]
[slides]