Towards valve turning using a dual-arm aerial manipulator

Korpela, Christopher; Orsag, Matko; Oh, Paul

doi:10.1109/iros.2014.6943037

Cited by 123 publications

(88 citation statements)

References 16 publications

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“…In our previous work we explored the necessary stability conditions for off-the-shelf quadrotor autopilots which ensure that the UAV equipped with manipulator arms can perform several tasks, including transporting and assembling objects [15] and opening and closing a valve [16]. Supported by research results from the work of [17], we can guarantee that the vehicle is tuned well beyond the stability condition both for free flight and when carrying payload, thus ensuring stability throughout mission execution.…”

Section: A Dynamic Stabilitymentioning

confidence: 99%

Aerial-ground robotic system for autonomous delivery tasks

Arbanas

Ivanović

Car

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet transportation, with different energy consumption profiles. We propose a reactive method for decentralized task planning and coordination of robots using hierarchical task decomposition based on TAEMS framework. Our approach takes into account low-level motion-planning aspects of the system as well as high-level mission specification, making this a multi-layered system. For low-level planning we use sampling-based planner combined with obstacle-free trajectory generation. Methods are verified in simulations and on an experimental testbed, using 3D Robotics quadcopter and Pioneer 3DX mobile robots with the results showing stability and robustness of the presented methods.

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Section: A Dynamic Stabilitymentioning

confidence: 99%

Aerial-ground robotic system for autonomous delivery tasks

Arbanas

Ivanović

Car

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…Today it is possible to find quadrotors intended to interact with objects and also humans [23], [24] through impedance/admittance force control and adaptive approximations 3 [25], [26], [27], [28], [29], [30]. In fact they contemplate the quadcopter and the robot manipulator as if they were the same body with the well known robot arm-like mathematical coupled equations M (q)q + C(q)q + G(q) = τ or the Euler-Lagrange formulation [31], [32], [33], [34].…”

Section: Comparisonsmentioning

confidence: 99%

Air-arm: A new kind of flying manipulator

Mendoza-Mendoza

Sepulveda-Cervantes²,

Aguilar-Ibáñez

et al. 2015

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.

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“…As the recent works, aerial manipulators with arms were also proposed [8]. However, one of their weak points is that the general aerial robots don't have any ability to move to the other room whose the door is closed, because they cannot support the reaction force while flying and also they don't possess large enough payload to carry the manipulator to open the door.…”

Section: Introductionmentioning

confidence: 99%

Aerial manipulator with perching and door-opening capability

Tsukagoshi

Watanabe

Hamada

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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This paper presents an aerial robot with a manipulator to implement door opening mission. Although general aerial robots have advantages of flying in the three-dimensional space freely, they don't have any capability of moving to another room when the door is closed. To overcome this problem, we propose a new configuration of an aerial manipulator with perching function, knob-twisting function, and door-pushing function. Perching function can be achieved by integration of door-approach control, the mechanism for perching and attitude-change control. With regard to knob-twisting function, the design concept of a light-weight manipulator generating large enough force to twist the knob is introduced, which is composed of a soft-bag actuator with variable restriction to perform the arbitrary curved trajectory. On the other hand, the door pushing force is aimed to be generated by the lift of the propeller, which is helpful to avoid gaining the additional weight. The validity of the proposed methods is experimentally verified by using the developed prototype.

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Towards valve turning using a dual-arm aerial manipulator

Cited by 123 publications

References 16 publications

Aerial-ground robotic system for autonomous delivery tasks

Aerial-ground robotic system for autonomous delivery tasks

Air-arm: A new kind of flying manipulator

Aerial manipulator with perching and door-opening capability

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