ICRA 2012 Paper Abstract

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Paper WeD09.4

Korpela, Christopher M. (Drexel University), Orsag, Matko (University of Zagreb), Danko, Todd (Lockheed Martin Advanced Technology Labs), Kobe, Bryan D (Drexel University), McNeil, Clayton (Drexel University), Pisch, Robert (Drexel University), Oh, Paul Y. (Drexel University)

Flight Stability in Aerial Redundant Manipulators

Scheduled for presentation during the Video Session "Video Session" (WeD09), Wednesday, May 16, 2012, 16:45−16:50, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on November 18, 2017

Keywords Mobile Manipulation, Dexterous Manipulation, Force Control

Abstract

Ongoing efforts toward mobile manipulation from an aerial vehicle are presented. Recent tests and results from a prototype rotorcraft have shown that our hybrid structure increases stability during flight and manipulation. Since UAVs require significant setup time, suitable testing locations, and have tendencies to crash, we developed an aerial manipulation test and evaluation environment that provides controllable and repeatable experiments. By using force feedback techniques, we have designed multiple, dexterous, redundant manipulators that can grasp objects such as tools and small objects. These manipulators are controlled in concert with an emulated aerial platform to provide hovering stability. The manipulator and aircraft flight control are tightly coupled to facilitate grasping without large perturbations in the end-effector.

 

 

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