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Paper WeAV115.8

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

Grasping from the Air: The Yale Aerial Manipulator

Scheduled for presentation during the Video Sessions "Video Session I: Aerial and Mobile Robotics" (WeAV115), Wednesday, May 11, 2011, 09:16−09:24, Room 3A

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 December 8, 2019

Keywords Aerial Robotics, Mobile Manipulation, Grasping

Abstract

This video describes recent advances in grasping unstructured objects from a hovering Unmanned Aerial Vehicle (UAV) platform. Typically, rotorcraft avoid contact with objects in the environment due to both coupled and uncoupled flight dynamics. We introduce the Yale Aerial Manipulator and demonstrate a working system for stable grasping while hovering. We discuss the platform’s underactuated gripper and its contribution to aircraft stability while grasping.

 

 

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