Grant: Alliance Grants

Unmanned aerial manipulators (UAMs) constitute an emerging technology that combines the versatility and agility of unmanned aerial vehicles (UAVs) with the precision and the dexterity of robotic arms for physical interactions (PhIs) with their environment. UAMs will meet the growing need for autonomous aerial manipulation in tasks that are costly, and/or hazardous, or even impossible for human operators. Despite substantial market and promises, UAM technology remains to be fully developed, limiting its current operation to simplified structured environments and, hence, leaving the majority of the related potential markets untapped. In particular, unmodeled interaction dynamics and uncertainties can readily lead to failure of many previous UAM interaction control techniques.In this program, the applicant will collaborate with the world authority in UAM technology, Dr. Orello, to tackle pending contact control issues. For this purpose, the focus of this research will be placed on the development of compliant UAM structures and control techniques to enable its operation in unstructured environments. The objectives of the program will mainly include development and verification of: a dynamic model; a realistic physics-based simulation platform; and a vision-based contact control technique for hexa-rotor based UAMs equipped with dual soft continuum arms. The outcome of this research will strengthen internationalization of Canadian research and bolster Canada's leadership in aerial robotics. The results could also potentially translate to a wide range of applications that could contribute to the well-being of Canadians and the global competitiveness of its drone industry.