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About this paper
Salvatore Marcellini, Simone D'Angelo, Alessandro De Crescenzo, Michele Marolla, Vincenzo Lippiello, Bruno Siciliano
Researchers at the University of Naples Federico II developed a semi-autonomous framework for Non-Destructive Testing (NDT) inspections by integrating an omnidirectional tilting octa-rotor drone with a 5-DoF robotic arm. The system demonstrated stable contact-based thickness measurements on a mock-up, achieving repeatable ~0.019m readings with precise 3.5N force application.
Key insights
- Decoupling flight control from manipulator interaction control significantly enhances stability for contact-based aerial robotic tasks.
- Omnidirectional tilting propellers, combined with active center of mass compensation, enable an aerial platform to maintain stable flight while a robotic arm exerts precise forces on a surface.
- A parallel force-impedance control strategy allows for both compliant approach to surfaces and the precise, sustained force application critical for accurate NDT measurements.
Summary by alphaXiv.
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