Omnidirectional Tilt-Rotor Flying Robots for Aerial Physical Interaction, 1st ed. 2024
Modelling, Control, Design and Experiments
Springer Tracts in Advanced Robotics Series, Vol. 157

This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.

Problem Definition.- Modelling.- Control.- Prototype Design.- Experimental Results.

Covers the basis for development of aerial robots for omnidirectional physical interaction

Focuses on omnidirectional tilt-rotor systems

Addresses morphology selection, modellingmodeling, control methods, and detailed prototype design