空中変形可能な多節型飛行ロボットにおける複数物体把持運搬のための形状最適化制御

抄録

In this paper, we show the achievement of multiple objects transportation by a transformable aerial robot. As it is not easy to make the flight endurance of an aerial robot longer, we study the problem to transport multiple objects at the same time to improve the efficiency of transportation. However, for conventional aerial robots, multiple objects transportation is difficult because the CoG position changes when the number of grasped objects changes, resulting in the instability of the flight. Therefore, to solve this problem, we focus on the multirotor with two-dimensional multilinks proposed in our previous work, which possesses the ability to modify the CoG position actively and can keep the flight stable. We then propose a method to find the optimal form for the multilinks based on the flight stability. Finally, we present the experimental result of multiple objects transportation.