Physical Contact with Wall using a Multirotor UAV Equipped with Add-On Thruster for Inspection Work
Takamasa Kominami,Zou Liang,Ricardo Rosales Martinez,Hannibal Paul,Kazuhiro Shimonomura,Takamasa Kominami,Zou Liang,Ricardo Rosales Martinez,Hannibal Paul,Kazuhiro Shimonomura
Inspection and maintenance work at heights car-ries significant risks and is time consuming for human workers. Therefore, aerial manipulators are expected to replace these tasks. This paper presents a multirotor UAV equipped with a single horizontal thruster. This minimal configuration en-ables physical contact while keeping the airframe's attitude horizontal for non-destructive inspection work on...
