Design and development of a novel type of table tennis aerial robot player with tilting propellers. (April 2021)

• Record Type: Journal Article
• Authors: Popescu, Radu Ionut; Raison, Maxime; Popescu, George Marian; Saussié, David; Achiche, Sofiane
• Is Part Of: Mechatronics. Volume 74(2021)
• Publication Date: 2021-04
• Subjects: Autonomous quadrotor -- Aggressive trajectory tracking -- Table tennis -- Iterative linear quadratic controller -- Tilting propellers; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2021.102483
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: An agile quadrotor with tilting propellers is developed weighting only 1.255 kg. The quadrotor achieved a success rate of 40% playing table tennis autonomously. An iLQR controller achieved precise aggressive trajectory tracking. Abstract: Table tennis has long fascinated roboticists as a particularly difficult task which requires fast movements, accurate control and adaptation to task parameters. In addition, the development of such devices is useful for educating the undergraduate students. Up to now, several groups have developed robotic manipulators playing table tennis and other commercial interactive robots. Moreover, drones are booming right now, and they can cover a larger workspace than manipulators, for a lower device volume and at a lower price. In this context, this paper aims to propose a drone playing table tennis to analyze the benefits and the disadvantages for this task. Most vertical takeoff and landing (VTOL) vehicles are not fast enough to reproduce hitting motions. The proposed prototype is an innovative quadrotor combining a tilting propeller and a state-dependent iterative linear quadratic control (iLQR). The performance of the proposed solution is evaluated with real experiments that show the success of the approach, reaching hitting rates of 40%.