Short Description
The dextAIR robot is an Aerial Manipulator with Elastic Suspension (AMES). The dextAIR aims to be a simple, dexterous, accurate robot with a large workspace. You can find potential applications of the dextAIR robot here.
I joined the dextAIR team during my Master internship. The goal of the internship was to implement model based controllers on the freshly new prototype.
Challenges
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First implementation of model-based controllers (feedback linearization and NMPC) on a novel type of robot.
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Low-level control of the propellers rotational speed to accurately control the thrust they generate.
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Sensor fusion between the different sensors using an EKF.