PAPER P19 · 2019
A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants
Tognon, M., Tello Chávez, H. A., Gasparin, E., Sablé, Q., Bicego, D., Mallet, A., Lany, M., Santi, G., Revaz, B., Cortés, J., Franchi, A. — IEEE Robotics and Automation Letters 4(2):1846-1851
已读摘要 引用次数: openalex: 197 (2026-10-22)
开发一种用于工业设施自主无损检测的空中机械臂，可在曲面上保持探头压紧的同时滑动。多向推力飞行器与轻量级 2 自由度机械臂相结合，配以在机械臂弹性下仍保持稳定的 PID 控制器，以及任务约束、控制感知的运动规划器。实验中，它用涡流探头持续接触扫描了一根金属管道，并检测和绘制出了一条焊缝。
主要发现
- Multidirectional-thrust platform plus 2-DoF arm forms a 'truly redundant' aerial manipulator
- Probe kept in contact while sliding over a curved metal pipe
- Weld on the pipe detected and mapped from eddy-current measurements
局限
- Abstract only reviewed (HAL full text blocked by bot protection)
- Single pipe experiment; no quantitative NDT accuracy reported in the abstract