ICRA 2011 Paper Abstract


Paper WeA101.1

Pounds, Paul (Yale University), Bersak, Daniel (Yale), Dollar, Aaron (Yale University)

Grasping from the Air: Hovering Capture and Load Stability

Scheduled for presentation during the Regular Sessions "Aerial Robotics III" (WeA101), Wednesday, May 11, 2011, 08:20−08:35, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Aerial Robotics, Mobile Manipulation, Field Robots


This paper reports recent research efforts to advance the functionality of Unmanned Aerial Vehicles (UAVs) beyond passive observation to active interaction with and manipulation of objects. The archetypical aerial manipulation task grasping objects during flight is difficult due to the unstable dynamics of rotorcraft and coupled object-aircraft dynamics. In this paper, we analyze key challenges encountered when lifting a grasped object and transitioning into laden free-flight. We demonstrate that dynamic load disturbances introduced by the load mass will be rejected by a helicopter with PID flight control. We determine stability bounds in which the changing mass-inertia parameters of the system due to the grasped object will not destabilize this flight controller. The conditions under which transient partial contact mechanics of objects resting on a surface will not induce instability are identified. We demonstrate grasping and retrieval of an object while hovering, without touching the ground, using the Yale Aerial Manipulator testbed.



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