Conference proceeding
Towards valve turning using a dual-arm aerial manipulator
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 3411
01 Sep 2014
Abstract
Conference Title: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014) Conference Start Date: 2014, Sept. 14 Conference End Date: 2014, Sept. 18 Conference Location: Chicago, IL, USA 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 well-established 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. We present recent results validating the valve turning framework using the proposed aircraft-arm system during flight tests.
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Details
- Title
- Towards valve turning using a dual-arm aerial manipulator
- Creators
- Christopher KorpelaMatko OrsagPaul Oh
- Publication Details
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Conference Proceedings, 3411
- Publisher
- The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348759204721