Autonomous Grasping Robotic Aerial System for Perching (AGRASP)

Popek, Katie M.; Johannes, Matthew S.; Wolfe, Kevin; Hegeman, Rachel; Hatch, Jessica M.; Moore, J. Russell; Katyal, Kapil D.; Yeh, Bryanna; Bamberger, Robert J.

doi:10.1109/iros.2018.8593669

Cited by 55 publications

(35 citation statements)

References 13 publications

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“…The system detailed in this paper presents a new form of developing landing systems based on soft robotics. Similar approaches have been tried out in the past, such as semisoft landing systems [20], as well as others with claws to achieve grasping [21]. These bio-inspired approaches are naturally efficient.…”

Section: Prepriint Ofmentioning

confidence: 97%

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Soria

Gomez-Tamm

Garcia-Rubiales

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The use of unmanned aerial systems for industrial applications has evolved considerably in recent years. This paper presents an aerial system capable of perching autonomously on pipes for inspection and maintenance in industrial environments. The target pipe to perch on is detected using a visual algorithm based on a semantic convolutional neuronal network. The information from a color camera is used to segment the image. Then, the segmentation information is fused with a depth image to estimate the pipe's pose, so that the pose of the robot can be controlled relative to it. The aerial robot is equipped with a soft landing system that robustly attaches it to the pipe. The article presents the complete development of the system. Experimental results performed in outdoor environments are shown.

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Section: Prepriint Ofmentioning

confidence: 97%

Autonomous landing on pipes using soft gripper for inspection and maintenance in outdoor environments

Soria

Gomez-Tamm

Garcia-Rubiales

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…A gripper has two main states: grip and release, which can effectively achieve some simple operations, such as grasping, 10,73 transportation, 8,28 assembling, 10,74 and perching. [75][76][77] However, a gripper generally needs to be specifically designed for a certain purpose to suit different object shapes, surface textures, materials, and weights. In addition, there are some key specific requirements for the gripper 8 University of Pennsylvania, 10 Utah State University, 73 ETH Zurich, 74 Johns Hopkins University, 75 University of Utah.…”

Section: Grippermentioning

confidence: 99%

“…[75][76][77] However, a gripper generally needs to be specifically designed for a certain purpose to suit different object shapes, surface textures, materials, and weights. In addition, there are some key specific requirements for the gripper 8 University of Pennsylvania, 10 Utah State University, 73 ETH Zurich, 74 Johns Hopkins University, 75 University of Utah. 77 in aerial manipulation application, 73…”

Section: Grippermentioning

confidence: 99%

“…Most of free-flight operations are concentrated on grasping 27,[45][46][47][79][80][81] and transporting. 28,39,69,73,75 Other types of operations are delivering, 29 perching, 30,76,77 assembling, 31,74 pick-and-place, 81,107 and so on. These aerial manipulating tasks generally demand accurate position information; therefore, they are often performed in motion capture system (e.g., VICON and OptiTrack).…”

Section: Free-flight Operationmentioning

confidence: 99%

See 1 more Smart Citation

Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

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“…In emergency cases quadrotors are used for rescue missions in buildings after natural disasters or terror attacks [4]. In [5], [6], quadrotors are employed for grasping objects during flight -or more specifically -grasping and retrieving objects while hovering, combining terrestrial robot manipulation capabilities with the range, speed and vertical workspace of flying vehicles. Quadrotors requires an accurate navigation solution to accomplish the challenging tasks assigned to them.…”

Section: Introductionmentioning

confidence: 99%