DocumentCode
2702764
Title
The Yale Aerial Manipulator: Grasping in flight
Author
Pounds, Paul E.I. ; Bersak, Daniel R. ; Dollar, Aaron M.
Author_Institution
Dept. of Mech. Eng. & Mater. Sci., Yale Univ., New Haven, CT, USA
fYear
2011
fDate
9-13 May 2011
Firstpage
2974
Lastpage
2975
Abstract
This video demonstrates a helicopter Unmanned Aerial Vehicle (UAV) research platform for grasping objects while in flight. Typically, helicopters avoid interacting with objects in their surroundings due to the unstable flight dynamics of rotorcraft and coupled mechanics encountered during contact. We introduce the Yale Aerial Manipulator and demonstrate stable grasping of a range of objects both when landed and while hovering. We discuss the platform´s underactuated gripper and its contribution to aircraft stability while grasping.
Keywords
aerospace control; grippers; helicopters; manipulators; mobile robots; remotely operated vehicles; stability; Yale aerial manipulator; aircraft stability; flight dynamics; helicopter unmanned aerial vehicle; objects grasping; rotorcraft; underactuated gripper; Conferences; Grasping; Grippers; Helicopters; Manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5980477
Filename
5980477
Link To Document