Naslov
Towards valve turning using a dual-arm aerial manipulator

Autori
Korpela, Christopher ; Orsag, Matko ; Oh, Paul

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

Izvornik
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) / - , 2014, 3411-3416

Skup
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)

Mjesto i datum
Chicago (IL), Sjedinjene Američke Države, Chicago, USA

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
UAV; dexterous manipulation; stability

Sažetak
We propose a framework for valve turning using an aerial vehicle endowed with dual multi-degree of freedom manipulators. A tightly integrated control scheme between the aircraft and manipulators is mandated for tasks requiring aircraft to environmental coupling. Feature detection is wellestablished for both ground and aerial vehicles and facilitates valve detection and arm tracking. Force feedback upon contact with the environment provides compliant motions in the presence of position error and coupling with the valve.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA