Aerial picking and delivery of magnetic objects with MAVs

Gawel, Abel; Kamel, Mina; Novković, Tonči; Widauer, Jakob; Schindler, Dominik; Altishofen, Benjamin Pfyffer von; Siegwart, Roland; Nieto, Juan

doi:10.1109/icra.2017.7989675

Cited by 60 publications

(43 citation statements)

References 25 publications

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“…4,5 On the multirotor drone, which is the most popular research platform due to its mechanical simplicity and reliability, there are single and dual serial manipulators with different DOFs, [6][7][8][9][10][11][12][13][14] parallel manipulators, [15][16][17] vacuum suction manipulators, 18 humanoid arms 19 and magnetic manipulator. 20 Most of these manipulators come from or evolve from industrial manipulators. These manipulators focus on the grasping task, and usually cannot be used as landing gears for perching directly.…”

Section: Manipulatormentioning

confidence: 99%

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Wang

Wong

2019

International Journal of Micro Air Vehicles

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Inspired by talon of a predator bird, this paper presents a quadrotor with two 2-Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environment or target objects. Therefore, aerial manipulation problem is significantly simplified due to the minimum amount of disturbance among components. In addition, the manipulators could function as the landing gear, which allows larger work envelope, weight saving and less landing impact. It also has the potential to achieve a birdlike "perch and watch" to increase the endurance of unmanned aerial vehicles in missions that involve extended endurance.

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Section: Manipulatormentioning

confidence: 99%

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Wang

Wong

2019

International Journal of Micro Air Vehicles

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“…In the following, we describe our solutions to the three key problems above. The work behind this infrastructure is a combined effort of Bähnemann, Schindler, Kamel, Siegwart, and Nieto () and Gawel et al ().…”

Section: Challenge 3: Search Pickup and Relocate Objectsmentioning

confidence: 99%

The ETH‐MAV Team in the MBZ International Robotics Challenge

Bähnemann

Pantic

Popović

et al. 2018

Journal of Field Robotics

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This study describes the hardware and software systems of the Micro Aerial Vehicle (MAV) platforms used by the ETH Zurich team in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). The aim was to develop robust outdoor platforms with the autonomous capabilities required for the competition, by applying and integrating knowledge from various fields, including computer vision, sensor fusion, optimal control, and probabilistic robotics. This paper presents the major components and structures of the system architectures and reports on experimental findings for the MAV‐based challenges in the competition. Main highlights include securing the second place both in the individual search, pick, and place the task of Challenge 3 and the Grand Challenge, with autonomous landing executed in less than 1 min and a visual servoing success rate of over 90% for object pickups.

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“…7. The total weight of the setup is 250 g. Unlike our previous version [7], the gripper is not compliant to non-planar surface geometries but it has simpler mechanics and its parts are more easily available.…”

Section: Implementation Detailsmentioning

confidence: 99%

A decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects

Hahnemann

Schindler

Kamel

et al. 2017

2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)

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We present a fully integrated autonomous multirobot aerial system for finding and collecting moving and static objects with unknown locations. This task addresses multiple relevant problems in search and rescue (SAR) robotics such as multi-agent aerial exploration, object detection and tracking, and aerial gripping. Usually, the community tackles these problems individually but the integration into a working system generates extra complexity which is rarely addressed. We show that this task can be solved reliably using only simple components. Our decentralized system uses accurate global state estimation, reactive collision avoidance, and sweep planning for multi-agent exploration. Objects are detected, tracked, and picked up using blob detection, inverse 3D-projection, Kalman filtering, visual-servoing, and a magnetic gripper. We evaluate the individual components of our system on the real platform. The full system has been deployed successfully in various public demonstrations, field tests, and the Mohamed Bin Zayed International Robotics Challenge 2017 (MBZIRC). Among the contestants we showed reliable performances and reached second place out of 17 in the individual challenge.

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Aerial picking and delivery of magnetic objects with MAVs

Cited by 60 publications

References 25 publications

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

The ETH‐MAV Team in the MBZ International Robotics Challenge

A decentralized multi-agent unmanned aerial system to search, pick up, and relocate objects

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