Opendata, web and dolomites


HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection

Total Cost €


EC-Contrib. €






Project "HYFLIERS" data sheet

The following table provides information about the project.


Organization address
city: OULU
postcode: 90014

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Finland [FI]
 Project website
 Total cost 3˙897˙020 €
 EC max contribution 3˙897˙020 € (100%)
 Programme 1. H2020-EU.2.1.1. (INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT))
 Code Call H2020-ICT-2017-1
 Funding Scheme RIA
 Starting year 2018
 Duration (year-month-day) from 2018-01-01   to  2021-12-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    OULUN YLIOPISTO FI (OULU) coordinator 773˙000.00
2    UNIVERSIDAD DE SEVILLA ES (SEVILLA) participant 647˙420.00
3    GE INSPECTION ROBOTICS AG CH (ZURICH) participant 641˙787.00
6    CHEVRON ORONITE SAS FR (RUEIL MALMAISON) participant 297˙500.00
7    DASEL SL ES (MADRID) participant 205˙500.00
8    TOTAL S.A. FR (COURBEVOIE) participant 196˙875.00


 Project objective

HYFLIERS will develop two prototypes for the first worldwide hybrid aerial/ground robot with a hyper-redundant lightweight robotic articulated arm equipped with an inspection sensor, together with supporting services for efficient and safe inspection in industrial sites. Energy savings will be achieved by minimizing the time of flight and by performing the inspection while attached to the pipe. To ensure accurate positioning, guidance, landing and rolling on constrained surfaces such as pipes, the robot will rely on a control system also integrating environment perception, particularly for landing on the pipes, and aerodynamic control taking into account aerodynamic effects of the pipes. The system will also have multi-media interfaces for teleoperation, automatic collision detection and avoidance; a trajectory planning system that will take into account aerodynamic effects in addition to kinematic and dynamic models; and a mission planning system to optimize the use of the robot in the inspection. The technology results will be validated in the inspection of pipes, which is a very relevant short-term application. HYFLIERS will decrease the cost and risks of current human inspection in production plants, such as oil and gas, where it is estimated that about 50 000 pipe thickness measurement points are needed within a 3 to 5 years interval. HYFLIERS will eliminate the risks of accidental falls and the cost associated to the use of man-lifts, cranes, scaffold or rope access, which is many orders of magnitude larger than the measurement cost by itself. Taking into account that about 60% to 75% of inspection costs in this type of facilities is dedicated to ultrasonic thickness measurements, the project will concentrate on these measurements. The results of the project could be also applied to other industrial scenarios, such as power generation plants.


List of deliverables.
Lightweight hyper-redundant robotic arm for aerial inspection tasks Demonstrators, pilots, prototypes 2020-01-14 15:07:27
Dissemination and exploitation plan Documents, reports 2020-01-14 15:07:29
Project presentation Documents, reports 2020-01-14 15:06:40
Design of the hybrid robot Documents, reports 2020-01-14 15:06:40
Project web-site Other 2020-01-14 15:06:40

Take a look to the deliverables list in detail:  detailed list of HYFLIERS deliverables.


year authors and title journal last update
List of publications.
2018 Vincenzo Lippiello
HYFLIERS: HYbrid FLying-rollIng with-snakE-aRm robot for contact inSpection
published pages: , ISSN: , DOI:
Maker Faire Rome 12-14 Oct 2019-09-09
2019 Yushu Yu, Vincenzo Lippiello
6D pose task trajectory tracking for a class of 3D aerial manipulator from differential flatness
published pages: , ISSN: 2169-3536, DOI:
IEEE Access vol. 7, Apr. 2019-09-09
2018 Vincenzo Lippiello, Juha Röning
Drones beyond the hobby
published pages: , ISSN: , DOI:
Maker Faire Rome 13 Oct 2019-09-09
2019 Sanchez-Cuevas PJ, Martín V, Heredia G, Ollero A
Multirotor aerodynamic effects close to obstacles: Modelling and mapping
published pages: , ISSN: , DOI:
ROBOT Iberian Robotics Conference Nov, Porto, Portugal 2019-09-09
2018 Fabio Ruggiero, Vincenzo Lippiello, Anibal Ollero
Aerial Manipulation: A Literature Review
published pages: 1957-1964, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2808541
IEEE Robotics and Automation Letters 3/3 2019-09-09
2019 Nekoo SR, Acosta JA, Ollero A
Fully coupled six-DoF nonlinear suboptimal control of a quadrotor: Variable-pitch rotor design
published pages: , ISSN: , DOI:
ROBOT Iberian Robotics Conference Nov, Porto, Portugal 2019-09-09
2019 Ramon-Soria P, Gomez-Tamm AE, Garcia-Rubiales FJ, Arrue BC, Ollero A
Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments- Green Open Access.- Embargo: 0- Peer-reviewed? YES- Public-private publication? NO- Type: Conference proceedings- Publisher: IEEE
published pages: , ISSN: , DOI:
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Nov 2019-09-09
2018 Juha Röning, et al.
Presentation of HYFLIERS project
published pages: , ISSN: , DOI:
European Robotics Forum (ERF 2018) 13-15 Mar 2019-09-05
2018 Russell Brown, Juha Röning
HYFLIERS: UT inspections at height in congested pipe racks
published pages: , ISSN: , DOI:
PRINT Robotics, World Conference for Inspection and Maintenance Robotics 13-14 Nov 2019-09-05
2018 Juha Röning, Anibal Ollero
Lentorobotti saa pyörät ja käsivarren - Oulun yliopiston johdolla automatisoidaan kaasu- ja öljyteollisuuden kunnossapitoa (In Finnish)
published pages: , ISSN: , DOI:
Interview by Mikkola A, Finnish newspaper Kaleva 2019-09-05

Are you the coordinator (or a participant) of this project? Plaese send me more information about the "HYFLIERS" project.

For instance: the website url (it has not provided by EU-opendata yet), the logo, a more detailed description of the project (in plain text as a rtf file or a word file), some pictures (as picture files, not embedded into any word file), twitter account, linkedin page, etc.

Send me an  email ( and I put them in your project's page as son as possible.

Thanks. And then put a link of this page into your project's website.

The information about "HYFLIERS" are provided by the European Opendata Portal: CORDIS opendata.

More projects from the same programme (H2020-EU.2.1.1.)

EuConNeCts4 (2019)

European Conferences on Networks and Communications (EuCNC)

Read More  

IMPACT EdTech (2019)

Incubating High-IMPACT New Generation EdTech Disruptors for Inclusive & Personalised Learning

Read More  

OpertusMundi (2020)

A Single Digital Market for Industrial Geospatial Data Assets

Read More