The LEO Center of Service Robotics is a foundation composed of the University of Twente, Saxion and a number of enterprises. One of the cores of LEO is Inspection and Services.
Prof. Dr.ir. Stefano Stramigioli is chair of the Robotics and Mechatronics group of the University of Twente and the LEO Center which he established together with members of Saxion and local industries.
Dr. Fumagalli is a Post. Doctoral Fellow in the group and has been involved in all activities related to flying robotics since the group has become active in the field during the AIROBOT project.
Dr. Raffaella Carloni, associate professor in the group, has been leading a number of activities of the AIROBOT project and has been involved in quad-copters since the very start.
Dr.ir. Ferdi van der Heijden, assistant professor, is an expert in vision and perception and author of the book "Image based measurement systems: object recognition and parameter estimation".
Dr.ir. Jan Broenink, associate professor, is responsible for the software architectural and embeded issues within the group.
The total group counts more or less fifty people, including supporting staff, Ph.D. students and PostDocs. The group is very popular within the University and has a number of undergraduate students active and willing to work in robotics applications. Besides the RAM group and within the contect of other partners of LEO, involvement is expected for supporting in different parts and phases of the competition.
The University of Twente has a long experience in the control of physical interaction with quad-copters. In the context of the EU FP7 project AIROBOT, at the knowledge of the authors, they were the first in 2011 to demonstrate physical interaction with a self-developed arm mounted on a quad-copter during scanning contacting motions. Another key technology of the challenge is tele-manipulation. Also in this technology, the team has been active for about twenty years, introducing concepts like geometric scattering, energy tanks and dual layers architectures. The team also has, at the knowledge of the authors, implemented the longest tele-manipulation of a quad-copter with force feedback between the University of Twente and the Australian National University with a distance of 10 268 km and round trip time delays of 1.4s with perfect stable behaviour.
Related publications (not complete list):
- S. Stramigioli, A. J. van der Schaft, B. Maschke, and C. Melchiorri, "Geometric Scattering in Robotic Telemanipulation", IEEE Trans. Robot. Autom., vol. 18, no. 4, pp. 588–596, Aug. 2002.
- S. Stramigioli, R. Mahony, and P. Corke, "A"Novel Approach to Haptic Teleoperation of Aerial Robot Vehicles", in Robotics and Automation (ICRA), 2010 IEEE International Conference on Anchorage, AK, 2010, pp. 5302–5308.
- R. Mahony and S. Stramigioli, "A port-Hamiltonian approach to image-based visual servo control for dynamic systems", Int. J. Rob. Res., vol. 31, no. 11, pp. 1303–1319, Sep. 2012.
- A. Y. Mersha, X. Hou, R. Mahony, S. Stramigioli, P. Corke, and R. Carloni, "Intercontinental haptic" teleoperation of a ﬂying vehicle: A step towards real-time applications", in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, pp. 4951–4957.
- M. Fumagalli, R. Naldi, A. Macchelli, R. Carloni, S. Stramigioli, and L. Marconi, "Modeling and control of a ﬂying robot for contact inspection", in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 3532–3537.