Conference proceeding
Flight Stability in Aerial Redundant Manipulators
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 3529-3530
01 Jan 2012
Featured in Collection : UN Sustainable Development Goals @ Drexel
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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Details
- Title
- Flight Stability in Aerial Redundant Manipulators
- Creators
- Christopher Korpela - Drexel UniversityMatko Orsag - Drexel UniversityTodd Danko - Drexel UniversityBryan Kobe - Drexel UniversityClayton McNeil - Drexel UniversityRobert Pisch - Drexel UniversityPaul Oh - Drexel UniversityIEEE
- Publication Details
- 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), pp 3529-3530
- Series
- IEEE International Conference on Robotics and Automation ICRA
- Publisher
- IEEE
- Number of pages
- 2
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:000309406703084
- Scopus ID
- 2-s2.0-84864483933
- Other Identifier
- 991019348753004721
UN Sustainable Development Goals (SDGs)
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Automation & Control Systems
- Engineering, Electrical & Electronic
- Robotics