- Видео 14
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DRAGON Lab
Добавлен 13 апр 2012
The official channel of DRAGON Lab in The University of Tokyo. Lab Website: www.dragon.t.u-tokyo.ac.jp/
Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors
This is our latest work for overactuated quadrotors, where we design an NMPC controller to achieve rapid, robust, and smooth pose-tracking performance. This work has been accepted by IEEE Robotics and Automation Letters (RA-L).
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Paper URL: ieeexplore.ieee.org/document/10659124
Title: Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors
Authors: Jinjie Li, Junichiro Sugihara, Moju Zhao
Abstract:
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this enhan...
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Paper URL: ieeexplore.ieee.org/document/10659124
Title: Servo Integrated Nonlinear Model Predictive Control for Overactuated Tiltable-Quadrotors
Authors: Jinjie Li, Junichiro Sugihara, Moju Zhao
Abstract:
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this enhan...
Просмотров: 474
Видео
Fully Autonomous Brick Pick and Place in Fields by Articulated Aerial Robot
Просмотров 547Год назад
This is the video for a paper accepted by IEEE Robotics & Automation Magazine (RAM). Paper URL: ieeexplore.ieee.org/abstract/document/10138655 Titile: Fully Autonomous Brick Pick and Place in Fields by Articulated Aerial Robot: Results in Various Outdoor Environments Author: T. Anzai, M. Zhao, T. Nishio, F. Shi, K. Okada and M. Inaba Abstract: Picking and placing of objects by aerial robots in ...
SPIDAR: SPherIcally vectorable and Distributed rotors assisted Air-ground amphibious quadruped Robot
Просмотров 54 тыс.Год назад
It is my pleasure to announce our new quadruped robot platform, call SPIDAR, which is air-ground amphibious. This hybrid locomotion is achieved by the spherically vectorable rotors distributed in all links. Although several air-ground bipedal robots have been developed by different research teams, to our best knowledge, this is the first time to achieve the hybrid quadruped robot. We develop su...
Forceful Valve Manipulation by Articulated Aerial Robot DRAGON
Просмотров 7 тыс.2 года назад
This is our new work about DRAGON, which achieves the forceful valve manipulation with arbitrary direction by this articulated aerial robot. To the best of our knowledge, this is the first time to achieve the operation of real industrial valve with real torque scale by aerial robot. This work has been published in IEEE Robotics and Automation Letters, and will be also presented in IEEE ICRA 202...
Versatile Articulated Aerial Robot DRAGON: Aerial Manipulation and Grasping by Vectorable Thrust
Просмотров 38 тыс.2 года назад
This is the video for a paper accepted by International Journal of Robotics Research (IJRR). Paper URL: journals.sagepub.com/doi/full/10.1177/02783649221112446 Titile: Versatile articulated aerial robot DRAGON: Aerial manipulation and grasping by vectorable thrust control Author: Moju Zhao, Kei Okada, Masayuki Inaba Abstract: Various state-of-the-art works have achieved aerial manipulation and ...
Elastic Vibration Suppression Control for Multilinked Aerial Robot
Просмотров 3,4 тыс.2 года назад
Accepted by RA-Letter and presented in ICRA 2022. Paper: ieeexplore.ieee.org/document/9691838 Title: Elastic Vibration Suppression Control for Multilinked Aerial Robot Using Redundant Degrees-of-Freedom of Thrust Force Authors: Toshiya Maki, Moju Zhao (equal contribution), Kei Okada, Masayuki Inaba Abstraction: Articulated aerial robots, which comprise multiple link units connected by joints, c...
quadrotor pd control education testbed
Просмотров 4703 года назад
2021年度メカトロ演習 規定課題5 ドローンのPD制御ゲインのチューニング 0:00 正しいPDゲイン 00:12 過度なPゲイン 00:19 過度なDゲイン
Compilation of Transformable Drones
Просмотров 2 тыс.3 года назад
We present a compilation of transformable drones from our representative research works during 2016 to 2020. Flying robots: - HYDRUS: 2D transformable drone - DRAGON: 3D transformable drone Our lab: JSK Robotics Lab in The University of Tokyo URL: www.jsk.t.u-tokyo.ac.jp/index.html Other movies: - IEEE spectrum: ruclips.net/video/zMi5v2KznU4/видео.html - University PR: ruclips.net/video/uje6iUB...
transformable aerial vehicle
Просмотров 1,9 тыс.3 года назад
We present a new type of the multirotor aerial vehicle, which consists of two-dimensional multilink and enables stable aerial transformation for high mobility in truly three-dimensional environments. With the ability of the aerial transformation, we tackle the problem of passing through the narrow space or gap, which is one of difficulties for existing structure of multirotors, especially in th...
Dragon Inital(DI) TIlt Flight Control
Просмотров 2 тыс.3 года назад
The quadtype drone which contains the gimbal structure for each propeller.
Multilinked Aerial Robot with Tilting Propellers: Design, Modeling, Control and State Estimation
Просмотров 9553 года назад
Accepted by Journal of Field Robotics Paper URL: arxiv.org/abs/2008.05613 Title: Versatile Multilinked Aerial Robot with Tilted Propellers: Design, Modeling, Control, and State Estimation for Autonomous Flight and Manipulation Authors: Moju Zhao, Tomoki Anzai, Fan Shi, Toshiya Maki, Takuzumi Nishio, Keita Ito, Naoki Kuromiya, Kei Okada, Masayuki Inaba Abstract: A Multilinked structure can benef...
Team JSK at MBZIRC 2020: Interception with Fast Flying Target Using a Multilinked Aerial Robot
Просмотров 5583 года назад
Accepted by Field Robotics (MBZIRC2020 Special Issue) Paper: www.journalfieldrobotics.org/Field_Robotics/Papers_files/3_Oza.pdf Title: Team JSK at MBZIRC 2020: Interception with Fast Flying Target Using a Multilinked Aerial Robot Authors: Moju Zhao, Fan Shi (equal contribution), Tomoki Anzai, Takuzumi Nishio, Toshiya Maki, Keita Ito, Naoki Kuromiya, Kei Okada, Masayuki Inaba Abstraction: The JS...
Aerial Manipulation by DRAGON (ICRA 2020)
Просмотров 3,7 тыс.4 года назад
The state-of-the-art works on deformable multirotor aerial robots have achieved the high ability in maneuvering, whereas there is no versatile aerial robot which can perform both deforming maneuvering and aerial manipulation yet. However, a novel multilinked aerial robot presented in our previous work, called DRAGON, has both potential owing to the serial-link structure. Therefore, an online mo...
Hydrus: Transformable Multirotor with Two-dimensional Multilinks - ICRA 2017
Просмотров 234 тыс.7 лет назад
JSK Lab - A novel drone which is able to transform like snake - Introduce the basic concept of hardware, aerial transformation , and whole-body aerial manipulation - Latest Presentation: 2017 ICRA in Singapore
Nice work, congrats to Jinjie and Dragon Lab.👏 Just wondering why the default direction of four thrust is slightly tilted inward (at 1:01)?
Hi Ruiqi, thanks for your question. This phenomenon might be due to model error. With this error, the optimizer finds that slightly tilting inward is the minimum-cost position. As evidence, we have built another drone (with higher quality) and implemented the same algorithm, and the tilting inward phenomenon disappears.
А если палкой ударить, покусают?
Can you imagine this conception applie to building bridges or another things usefull to humanity?
Was this simulation done on Gazebo 11 ? I could not get information about it in the referenced paper
let's do this with those stars that are about to go supernova that are getting nudged out of the Galaxy by that other civilization
can it actually carry anything? seems to struggle under its own weight
You will soon receive the answer. So please stay tuned :D
lol
crazy tech
insane technology
😮🤯
Very cool!! 1 kilogram is significant... this is such a useful concept. I can see it being used in many future applications.
ありがとうございます! 凄すぎて信じられない😅
Finally, a flying spider, now my nightmares are a reality... To be honest good job! :)
Extraordinary 🤩
whats the point? end game?
Very pretty, but can they fight?
Too loud! Maybe they can use those new toroidal propellers MIT cooked up to make this thing easier on our ears!
Most stupid design I've ever seen.
That vibration on the rotor assemblies - looks kinda spastic
If I saw something like that flying around I'd run for the hills
Gotta crawl before you can walk. Another in a line of robots.
Why not just fly?
The cool!
Why not just build valves with the automatic shut off then it can be done remotely
познавательное видео, чем шире "лапы", тем меньше подъёмная сила
"pidar" sounds more interesting, especially in Russia
Too noisy for stealth
make it silent
that's no SPIDAR it's a BANSHEE
Looked clumsy to me
Bad design followed by bad noise, all in all a job well done.
Can't see the actual revenue or purpose of such a thing, what's the next step?
а я увидел, могу поделиться- чем шире находятся "лапы" , тем меньше подъёмная сила
Omg this drone are so awesome :D I love it :D
According to the sound that´s a formula 1 spider
Never hear it coming....😐😐🤣🤣🤣
So this thing will be in the next watch dogs right? I hope the commercial version will be equipped with googly eyes! Maybe you should equip it with bings new seemingly anxious AI hoping it will not try to take over the world.
I would rather call it SPIDAIR
uh mom the screaming spiders are back
The future is scary.
Robot PIDR
Мой чайник также кричит)
Nothing at all creepy about that initial series of twitchy "Am I alive?" movements. Coming for your loved ones during the night, but only if they are wearing noise cancelling headphones...
TBH, the sound is the most terrifying part of this. Can you imagine this robot coming into your house screeching like that in the middle of the night?! ::shudders::
Just throw a blanket over it and it is done.
🤣
Holy cow, I hope they have protection over their ears.
👍🏻👍🏻
Goofy Ahh Walking
Makes none sense for me to walk with fans
I thought the same thing. Could be for very specific situations - to traverse air then crawl through low areas, then fly again. The ability to right itself from any position (like a crash) then continue flying would be cool to see
🤯🤯🤯🤯
Excellent work!