Design and Control of a Spherical Omnidirectional Blimp

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Author(s) Burri, M., Gasser, L., Kach, M., Krebs, M., Laube, S., Ledergerber, A., Meier, D., Michaud, R., Mosimann, L., Muri, L., Ruch, C., Schaffner, A., Vuilliomenet, N., Weichart, J., Rudin, K., Leutenegger, S., Alonso-Mora, J., Siegwart, R., Beardsley, P.
Publication Type Conference Contributions, Publication Status: Published
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Title Design and Control of a Spherical Omnidirectional Blimp
Author(s) Burri, M.
Gasser, L.
Kach, M.
Krebs, M.
Laube, S.
Ledergerber, A.
Meier, D.
Michaud, R.
Mosimann, L.
Muri, L.
Ruch, C.
Schaffner, A.
Vuilliomenet, N.
Weichart, J.
Rudin, K.
Leutenegger, S.
Alonso-Mora, J.
Siegwart, R.
Beardsley, P.
Book Title IROS 2013: New Horizon Conference Digest. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems Tokyo Big Sight, Tokyo, Japan. November 3‐8, 2013
ISBN 978-1-4673-6358-7
Start Page 1873
End Page 1879
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2013
Abstract This paper presents Skye, a novel blimp design. Skye is a helium-filled sphere of diameter 2.7m with a strong inelastic outer hull and an impermeable elastic inner hull. Four tetrahedrally-arranged actuation units (AU) are mounted on the hull for locomotion, with each AU having a thruster which can be rotated around a radial axis through the sphere center. This design provides redundant control in the six degrees of freedom of motion, and Skye is able to move omnidirectionally and to rotate around any axis. A multi-camera module is also mounted on the hull for capture of aerial imagery or live video stream according to an 'eyeball' concept -the camera module is not itself actuated, but the whole blimp is rotated in order to obtain a desired camera view. Skye is safe for use near people - the double hull minimizes the likelihood of rupture on an unwanted collision; the propellers are covered by grills to prevent accidental contact; and the blimp is near neutral buoyancy so that it makes only a light impact on contact and can be readily nudged away. The system is portable and deployable by a single operator -the electronics, AUs, and camera unit are mounted externally and are detachable from the hull during transport; operator control is via an intuitive touchpad interface. The motivating application is in entertainment robotics. Skye has a varied motion vocabulary such as swooping and bobbing, plus internal LEDs for visual effect. Computer vision enables interaction with an audience. Experimental results show dexterous maneuvers in indoor and outdoor environments, and non-dangerous impacts between the blimp and humans.
DOI 10.1109/IROS.2013.6696604
Event Name IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
Event Location Tokyo, Japan
Event Date November 3-7, 2013
Document Type Conference Paper
Publication Status Published
Language English
Source Database ID WOS-000331367401145
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@inproceedings{Brr2013,
  author = "Burri, M. and Gasser, L. and Kach, M. and Krebs, M. and Laube, S. and Ledergerber, A. and Meier, D. and Michaud, R. and Mosimann, L. and Muri, L. and Ruch, C. and Schaffner, A. and Vuilliomenet, N. and Weichart, J. and Rudin, K. and Leutenegger, S. and Alonso-Mora, J. and Siegwart, R. and Beardsley, P.",
  title = "{D}esign and {C}ontrol of a {S}pherical {O}mnidirectional {B}limp",
  booktitle = "IROS 2013: New Horizon Conference Digest. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems Tokyo Big Sight, Tokyo, Japan. November 3-8, 2013",
  year = 2013,
  pages = "1873--1879",
  address = "Piscataway, NJ",
  publisher = "IEEE",
}


E-Citations record created: Mon, 14 Apr 2014, 08:14:30 CET