Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly

Karishma Patnaik, Shatadal Mishra, Seyed Mostafa Rezayat Sorkhabadi, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the design and control of a novel quadrotor with a variable geometry to physically interact with cluttered environments and fly through narrow gaps and passageways. This compliant quadrotor with passive morphing capabilities is designed using torsional springs at every arm hinge to allow for rotation driven by external forces. We derive the dynamic model of this variable geometry quadrotor (SQUEEZE), and develop an adaptive controller for trajectory tracking. The corresponding Lyapunov stability proof of attitude tracking is also presented. Further, an admittance controller is designed to account for changes in yaw due to physical interactions with the environment. Finally, the proposed design is validated in flight tests with two setups: a small gap and a passageway. The experimental results demonstrate the unique capability of the SQUEEZE in navigating through constrained narrow spaces.

Original languageEnglish (US)
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1364-1370
Number of pages7
ISBN (Electronic)9781728162126
DOIs
StatePublished - Oct 24 2020
Externally publishedYes
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: Oct 24 2020Jan 24 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period10/24/201/24/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Design and Control of SQUEEZE: A Spring-augmented QUadrotor for intEractions with the Environment to squeeZE-and-fly'. Together they form a unique fingerprint.

Cite this