Long-Reach Aerial Manipulation Employing Wire-Suspended Hand With Swing-Suppression Device

Miyazaki, Ryo; Jiang, Rui; Paul, Hannibal; Huang, Yanzhao; Shimonomura, Kazuhiro

doi:10.1109/lra.2019.2924128

Cited by 21 publications

(25 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the pick-and-place task [7], we verified that it was possible to perform few manipulation tasks using the proposed method. However, the tasks were performed by moving the UAV slowly because quick UAV movements caused a position drift between the UAV and wire-suspended hand in the horizontal plane.…”

Section: Intercommunication For Wire-suspended Device Controlmentioning

confidence: 70%

“…V is the linear velocity of the wire-suspended hand, which can be estimated from the IMU. The swing suppression control and pick-andplace task were demonstrated successfully in our previous study [7].…”

Section: System a Aerial Robot Platform With Swing Suppression mentioning

confidence: 85%

“…The CPU board is used for communicating with the wiresuspended device, image processing, and winch control. To maintain the wire-suspended device horizontal while the UAV is moving, as shown in 3, the winch mechanism was redesigned from a single motor type in [7] to a dual motor type (FIGURE 5, side view). The motor driver receives I2C signals from the winch controller and converts it to PWM signals to control the rotational speed of the DC motor via the ESC.…”

Section: B Redesigning Device and The Systemmentioning

confidence: 99%

“…In some studies [15] - [17], cable-suspended aerial manipulators were simulated and developed using industrial manipulators and 8 thrusters for stabilizing the swinging motion. In our previous study [7], we developed a long and light wire-suspended hand. The wire-suspended hand consisted of four ducted fans with an IMU and robotic hands with a vision system.…”

Section: Introductionmentioning

confidence: 99%

“…The left figure shows the state of the wire-suspended device without using the position control system. The device was programmed for suppressing the swinging motion using sensor feedback [7]. Faster the UAV moves, more the misalignment between the UAV and wire-suspended device.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Wire-Suspended Device Control Based on Wireless Communication With Multirotor for Long Reach-Aerial Manipulation

et al. 2020

Self Cite

View full text Add to dashboard Cite

In this study, we propose a long-reach aerial manipulation system with a wire-suspended device that allows the airframe to maintain its position at the desired distance away from the target. We implemented a feedback communication between the multirotor and wire-suspended device to maintain the position of the wire-suspended device directly below the multirotor while maintaining a constant distance from the target. The multirotor communicates its velocity and relative position to the wire-suspended device to control the ducted fans, whereas the wire-suspended device transmits the attitude and distance from the ground to the multirotor to control the winch. The designed controller for the ducted fans allows the wire-suspended device to behave like a long rigid robotic arm. The performance of the designed controller was verified by navigating the multirotor over stepped surfaces while the wire-suspended device was being lowered.

show abstract

Section: Intercommunication For Wire-suspended Device Controlmentioning

confidence: 70%

Section: System a Aerial Robot Platform With Swing Suppression mentioning

confidence: 85%

Section: B Redesigning Device and The Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Wire-Suspended Device Control Based on Wireless Communication With Multirotor for Long Reach-Aerial Manipulation

et al. 2020

Self Cite

View full text Add to dashboard Cite

show abstract

Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

View full text Add to dashboard Cite

Small unmanned aerial vehicles (UAVs) have gained significant interest in the last decade. More specifically these vehicles have the capacity to impact package delivery logistics in a disruptive way. This paper reviews research problems and state‐of‐the‐art solutions that facilitate package delivery. Different aerial manipulators and grippers are listed along with control techniques to address stability issues. Landing on a platform is next discussed which encompasses static and dynamic platforms. Landing on a dynamic platform presents further challenges. This includes delayed control responses and poor precision of the relative motion between the platform and the aerial vehicle. Subsequently, risks such as weather conditions, state estimation, and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorizes the topic into two areas: drone operations and drone–truck collaborative operations. Additionally, we compare the solutions against design, environmental, and legal constraints.

show abstract

Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems

D’Ago,

Selvaggio,

Suarez

et al. 2024

Robotics and Autonomous Systems

View full text Add to dashboard Cite

Long-Reach Aerial Manipulation Employing Wire-Suspended Hand With Swing-Suppression Device

Cited by 21 publications

References 15 publications

Wire-Suspended Device Control Based on Wireless Communication With Multirotor for Long Reach-Aerial Manipulation

Wire-Suspended Device Control Based on Wireless Communication With Multirotor for Long Reach-Aerial Manipulation

Autonomous aerial robotics for package delivery: A technical review

Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems

Contact Info

Product

Resources

About