Naslov
Flight stability in aerial redundant manipulators

Autori
Korpela, Christopher ; Orsag, Matko ; Danko, Todd ; Kobe, B. ; McNeil, C. ; Pisch, R. ; Oh, Paul

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 2012 IEEE International Conference of Robotics and Automation (ICRA) / - , 2012, 3529-3530

ISBN
978-1-4673-1404-6

Skup
2012 IEEE International Conference of Robotics and Automation (ICRA)

Mjesto i datum
Saint Paul (MN), Sjedinjene Američke Države, 14.05.2012. - 18.05.2012

Vrsta sudjelovanja
Ostalo

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV; Mobile Manipulation; Dexterous Manipulation

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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