Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform
<|reference_start|>Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform: This letter investigates the problem of controlling an aerial manipulator, composed of an omnidirectional tilting drone equipped with a five-degrees-of-freedom robotic arm. The robot has to interact with the environment to inspect structures and perform non-destructive measurements. A parallel force-impedance control technique is developed to establish contact with the designed surface with a desired force profile. During the interaction, a pushing phase is required to create a vacuum between the surface and the echometer sensor mounted at the end-effector, to measure the thickness of the interaction surface. Repetitive measures are performed to show the repeatability of the algorithm.<|reference_end|>
@article{marcellini2024development,
    title={Development of a semi-autonomous framework for NDT inspection with a
  tilting aerial platform},
    author={Salvatore Marcellini and Simone D'Angelo and Alessandro De Crescenzo
  and Michele Marolla and Vincenzo Lippiello and Bruno Siciliano},
    journal={arXiv preprint arXiv:2407.03003},
    year={2024},
    archivePrefix={arXiv},
    eprint={2407.03003},
    primaryClass={cs.RO cs.SY eess.SY}
}