Expansion of Operational Space and Acquisition of Dual-Arm Coordination Capability for a Flying Manipulator Using a Rotary Suction Gripping Mechanism

2023 Fiscal Year Final Research Report

• Project/Area Number: 22K21270
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 1001:Information science, computer engineering, and related fields
• Research Institution: The University of Tokyo
• Principal Investigator: Nishio Takuzumi 東京大学, 大学院情報理工学系研究科, 助教 (20966402)
• Project Period (FY): 2022-08-31 – 2024-03-31
• Keywords: 飛行ロボット / 制御

Outline of Final Research Achievements

In this study, we aimed to enhance the operational performance of flying robots and achieved stable coordinated operations using a rotor-distributed flying manipulator. First, we developed a body configuration method and nonlinear flight control method that enable stabilization in any posture, achieving stabilization in all orientations. Next, we proposed a control method for the separation and integration of multiple units, realizing stable integration while avoiding air flow interference in mid-air. Furthermore, we constructed a remote control system for the deformable flying robot, integrating human operation and autonomous control to improve operational accuracy and stability. This significantly improves the efficiency and operational performance of high-altitude work, leading to reduced risks and enhanced work precision.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究は，飛行ロボットの動作性能を飛躍的に向上させることで，高所作業の効率化と安全性向上に貢献するものである．ロータ分散型飛行マニピュレータを用いた非線形飛行制御手法の開発により，任意の姿勢での安定化と複数台機体の協調動作が実現することで，従来の方法では困難であった複雑な高所作業が可能となり，作業の精度と安定性が大幅に向上に繋がる．さらに，変形飛行ロボットの遠隔操縦システムの構築により，リスクの軽減と作業効率の向上が期待される．これらの成果は，従来の飛行ロボットにおける動作システムにも応用可能という点から，学術的にも大きな意義を持つ研究であると考える．