DocumentCode :
2412653
Title :
Flight stability in aerial redundant manipulators
Author :
Korpela, Christopher ; Orsag, Matko ; Danko, Todd ; Kobe, Bryan ; McNeil, Clayton ; Pisch, Robert ; Oh, Paul
Author_Institution :
Drexel Autonomous Syst. Lab., Drexel Univ., Philadelphia, PA, USA
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
3529
Lastpage :
3530
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.
Keywords :
aerospace robotics; force feedback; helicopters; mobile robots; redundant manipulators; stability; aerial redundant manipulators; aerial vehicle; dexterous manipulators; end-effector; flight stability; force feedback techniques; mobile manipulation; multiple manipulators; prototype rotorcraft; redundant manipulators; Grasping; Manipulators; Mobile communication; Prototypes; Unmanned aerial vehicles; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6224925
Filename :
6224925
Link To Document :
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