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PIBOT

Pilot + Robot

Master's Thesis Project

This project is to unman existing aircraft with minimal modifications using robots created to pilot an aircraft like humans.

From this project, I built robots that control miniature aircraft and human-size flight simulator from scratch. 

Flight Test with miniature PIBOT

Flight Simulation with Human-size PIBOT


 

Publications

M.S. Thesis: Design of Pilot Robot and Its Control Algorithm, 2016. (advised by David H. Shim) [pdf] [video]

[C-2] H. Song, H. Shin, H. You, J. Hong, and D. H. Shim, “Toward Autonomous Aircraft Piloting by a Humanoid Robot: Hardware and Control Algorithm Design,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Republic of Korea, Oct. 2016. [pdf] [video]

[C-3] H. Song, H. Shin, H. You, and D. H. Shim, “A Study on Autonomous Flight Control System for a Fixed-wing Aircraft using a Pilot Robot,” in 2015 The Korean Society for Aeronautical and Space Sciences Fall Conference, Jeju, Republic of Korea, Nov. 2015. [pdf] [video]

[J-3] H. Song, D. Lee, and D. H. Shim, “Development of a UAV using a humanoid robot,” Journal of Institute of Control, Robotics, and Systems, vol. 20, Nov. 2014, pp. 1112-1117. [pdf] [video]


Miniature PIBOT

Flight experiment is designed and conducted with a model aircraft piloted by a miniature PIBOT to verify the feasibility of humanoid robot operation of an aircraft.


 
 

Hardware - RC Aircraft

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Wing span: 1800 mm, Length:2030 mm, Weight: 12kg

Power: 10400mAh, 37V, 40C, Max. 15min


 
 

Hardware - Avionics

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FCC: Gumstix Verdex Pro XL6P (600Mhz, ARMv5, 256MB)

IMU, GPS: Microstrain 3DM-GX3-35


 
 

Hardware - Manipulator

pibot_manipulator.png

DOF: 3 DOF for each arm

Actuator: ROBOTIS Dynamixel AX-12A


 
 

Hardware - Setting

pibot_setting_1.png
pibot_setting_2.jpg
 

 

Human-size PIBOT

Flight simulation is designed and conducted with a flight motion simulator piloted by a human-size PIBOT to verify the feasibility of humanoid robot operation of an aircraft.


 
 

Hardware - Design

 
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Specifications

Specifications

 
 
PIBOT + 4 DOF Flight Motion Simulator

PIBOT + 4 DOF Flight Motion Simulator


 
 

Software - Cockpit Configuration

 
pibot_config.png

 
 

Software - Architecture

 
pibot_block_diagram.png

 
 

Flight Simulation Result

Flight Trajectory

Flight Trajectory

Attitude Control Result

Attitude Control Result

Control Output

Control Output

Altitude and Velocity Control Result

Altitude and Velocity Control Result