Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm
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arXiv
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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
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| author | Jitosho, Rianna Winston, Crystal E. Yang, Shengan Li, Jinxin Ahlquist, Maxwell Woehrle, Nicholas John Liu, C. Karen Okamura, Allison M. |
| author_facet | Jitosho, Rianna Winston, Crystal E. Yang, Shengan Li, Jinxin Ahlquist, Maxwell Woehrle, Nicholas John Liu, C. Karen Okamura, Allison M. |
| contents | Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial vehicles. Instead, we propose an aerial robotic arm with low mass and a small stowed configuration called a "flying vine". The flying vine consists of a small, maneuverable quadrotor equipped with a soft, growing, inflated beam as the arm. This soft robot arm is underactuated, and positioning of the end effector is achieved by controlling the coupled quadrotor-vine dynamics. In this work, we present the flying vine design and a modeling and control framework for tracking desired end effector trajectories. The dynamic model leverages data-driven modeling methods and introduces bilinear interpolation to account for time-varying dynamic parameters. We use trajectory optimization to plan quadrotor controls that produce desired end effector motions. Experimental results on a physical prototype demonstrate that our framework enables the flying vine to perform high-speed end effector tracking, laying a foundation for performing dynamic maneuvers with soft aerial manipulators. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_20754 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm Jitosho, Rianna Winston, Crystal E. Yang, Shengan Li, Jinxin Ahlquist, Maxwell Woehrle, Nicholas John Liu, C. Karen Okamura, Allison M. Robotics Aerial robotic arms aim to enable inspection and environment interaction in otherwise hard-to-reach areas from the air. However, many aerial manipulators feature bulky or heavy robot manipulators mounted to large, high-payload aerial vehicles. Instead, we propose an aerial robotic arm with low mass and a small stowed configuration called a "flying vine". The flying vine consists of a small, maneuverable quadrotor equipped with a soft, growing, inflated beam as the arm. This soft robot arm is underactuated, and positioning of the end effector is achieved by controlling the coupled quadrotor-vine dynamics. In this work, we present the flying vine design and a modeling and control framework for tracking desired end effector trajectories. The dynamic model leverages data-driven modeling methods and introduces bilinear interpolation to account for time-varying dynamic parameters. We use trajectory optimization to plan quadrotor controls that produce desired end effector motions. Experimental results on a physical prototype demonstrate that our framework enables the flying vine to perform high-speed end effector tracking, laying a foundation for performing dynamic maneuvers with soft aerial manipulators. |
| title | Flying Vines: Design, Modeling, and Control of a Soft Aerial Robotic Arm |
| topic | Robotics |
| url | https://arxiv.org/abs/2503.20754 |