Name
Title | ||
|---|---|---|
Long-Reach Aerial Manipulation Employing Wire-Suspended Hand With Swing-Suppression Device |
Abstract | ||
|---|---|---|
We herein propose a long-reach aerial manipulator to allow the manipulation of objects several meters away from an unmanned aerial vehicle (UAV). The system consists of a multi-rotor platform with winch mechanism and wire-suspended gripper module equipped with a camera and swing-suppression device. The winch controls the distance of the wire-suspended device from the UAV. To stabilize the device suspended from the UAV by two wires, we developed a swing-suppression device using an IMU and ducted fans. Through experiments, we verified effectiveness of the swing-suppression system; that is, it successfully stabilized the wire-suspended device within a distance of 3.5 m from the UAV. Furthermore, we performed a pick-and-place task using a gripper that was lowered from the UAV by 3 m. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2924128 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Aerial systems, mechanics and control, mobile manipulation, field robots | Metre,Simulation,Manipulator,Control engineering,Inertial measurement unit,Winch,Engineering,Multirotor,Swing | Journal |
Volume | Issue | ISSN |
4 | 3 | 2377-3766 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| R. Miyazaki | 1 | 19 | 2.71 |
| Rui Jiang | 2 | 0 | 0.68 |
| Hannibal Paul | 3 | 0 | 1.69 |
| Yanzhao Huang | 4 | 0 | 0.34 |
| Kazuhiro Shimonomura | 5 | 57 | 13.11 |