Design of hands for aerial manipulation: Actuator number and routing for grasping and perching

Backus, Spencer; Odhner, Lael U.; Dollar, Aaron M.

doi:10.1109/iros.2014.6942537

Cited by 41 publications

(25 citation statements)

References 10 publications

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“…Since an FH can only grasp an object and locally manipulate it without too much dexterity, it is not convenient to complicate the mechanical design of the gripper. Light-weight, low-complexity grippers are conceived for quadrotors [46] and helicopters [47], even investigating low-cost solutions [48]. Besides, these designed grippers for FHs can be endowed with compliance concerning the external environment [45], [48], [49] or not [46].…”

Section: Flying Handsmentioning

confidence: 99%

Aerial Manipulation: A Literature Review

Ruggiero

Lippiello

Ollero

2018

IEEE Robot. Autom. Lett.

361

217

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Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.

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Section: Flying Handsmentioning

confidence: 99%

Aerial Manipulation: A Literature Review

Ruggiero

Lippiello

Ollero

2018

IEEE Robot. Autom. Lett.

361

217

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“…This technology has greatly evolved in recent years [15] one example is the ARCAS [16] project where the idea was to develop unmanned aerial systems capable of carrying robotics arms and other tools to enable UAVs to manipulate in inaccessible places. Another approach using helicopters was explored in [17] focusing on the design of mechanical hands for grasping and perching. In the last years, aerial manipulation has turned towards to achieve dexterous manipulation skills.…”

Section: Prepriint Ofmentioning

confidence: 99%

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Soria

Gomez-Tamm

Garcia-Rubiales

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The use of unmanned aerial systems for industrial applications has evolved considerably in recent years. This paper presents an aerial system capable of perching autonomously on pipes for inspection and maintenance in industrial environments. The target pipe to perch on is detected using a visual algorithm based on a semantic convolutional neuronal network. The information from a color camera is used to segment the image. Then, the segmentation information is fused with a depth image to estimate the pipe's pose, so that the pose of the robot can be controlled relative to it. The aerial robot is equipped with a soft landing system that robustly attaches it to the pipe. The article presents the complete development of the system. Experimental results performed in outdoor environments are shown.

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“…The most common solutions to the aerial manipulation problem usually mount a gripper or robotic arm to the UAV . Some examples of this can be seen in works where the problem of grasping and perching are addressed using light‐weight and low‐complexity grippers . Another way to address the problem is by means of bio‐inspired designs manipulator arms for aerial griping .…”

Section: Introductionmentioning

confidence: 99%

“…4 Some examples of this can be seen in works where the problem of grasping and perching are addressed using light-weight and low-complexity grippers. 5,6 Another way to address the problem is by means of bio-inspired designs manipulator arms for aerial griping. 7,8 There are many works that propose a solution to manipulation tasks using a robotic arm attached to quadcopters.…”

Section: Introductionmentioning

confidence: 99%

Two PVTOLs cooperative slung‐load transport control based on passivity

2019

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This work addresses the problem of two unmanned aerial vehicles (UAVs) transporting a slung‐load on a plane. The vehicles presented are a simplified version of the classical planar vertical take‐off and landing (PVTOL). The proposed solution implements a decentralized control scheme based on the concept of passivity where there is no explicit communication between agents. This is accomplished by taking advantage of the physical connection between the agents and the load. In contrast with similar control algorithms based on force control, like impedance filters, the objective is to drive the system into a state of minimal energy. In addition to this, the presented control strategy differs from other passivity based methods, like an interconnection and damping assignment passivity‐based control, in that the method can also be used to accommodate more complex control strategies that do not necessarily depend on the energy of the system.

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Design of hands for aerial manipulation: Actuator number and routing for grasping and perching

Cited by 41 publications

References 10 publications

Aerial Manipulation: A Literature Review

Aerial Manipulation: A Literature Review

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Two PVTOLs cooperative slung‐load transport control based on passivity

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