REVIEW 1 cited by
AirCrab: A Hybrid Aerial-Ground Manipulator with An Active Wheel
Not yet reviewed by Pith; the record is open.
This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.
SPECIMEN: schema-true, not a live event
T0 review · schema-true
One-sentence machine reading of the paper's core claim.
pith:XXXXXXXX · record.json · timestamp
AirCrab: A Hybrid Aerial-Ground Manipulator with An Active Wheel
read the original abstract
Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF) manipulator. AirCrab leverages a single point of contact with the ground to reduce position drift and improve manipulation accuracy. The single active wheel enables locomotion on narrow surfaces without adding significant weight to the robot. To realize accurate attitude maintenance using propellers on the ground, we design a control allocation method for AirCrab that prioritizes attitude control and dynamically adjusts the thrust input to reduce energy consumption. Experiments verify the effectiveness of the proposed control method and the gain in manipulation accuracy with ground contact. A series of operations to complete the letters 'NTU' demonstrates the capability of the robot to perform challenging hybrid aerial-ground manipulation missions.
Forward citations
Cited by 1 Pith paper
-
Tilt-Ropter: A Fully Actuated Hybrid Aerial-Terrestrial Vehicle with Tilt Rotors and Passive Wheels
Tilt-Ropter is a fully actuated tilt-rotor vehicle with passive wheels that tracks trajectories in air and on the ground with one unified NMPC and uses 92.8% less power while rolling.
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.