Cooperative manipulation and transportation with aerial robots

Michael, Nathan; Fink, Jonathan; Kumar, Vijay

doi:10.15607/rss.2009.v.001

Cited by 181 publications

(236 citation statements)

References 7 publications

Supporting

Mentioning

235

Contrasting

Unclassified

Order By: Relevance

“…While several autonomous helicopters have flown with tethered loads (Bernard and Kondak 2009;Bisgaard et al 2009;Michael et al 2009), the slung configuration is specifically designed to decouple the motion of the load from the helicopter, and separate the timescales of the attitude and tether-pendulum dynamics (Raz et al 1988). In the case of grasped and rigidly affixed loads, the payload is directly coupled to vehicle pitch and lateral motions-the closedloop system must be shown to remain stable in the expected range of system mass and inertia.…”

Section: Helicopter Stability With Added Payloadmentioning

confidence: 99%

“…Along these lines, there is growing interest in the research community towards the development of aerial robotic systems capable of acquiring external payloads or otherwise physically interacting with objects in the environment (Bernard and Kondak 2009;Mammarella et al 2008;Scott et al 2007;Bisgaard et al 2009;Raz et al 1988;Michael et al 2009;Amidi et al 1998;Kuntz and Oh 2008;Borenstein 1992). In our own lab, we have developed the Yale Aerial Manipulator and have demonstrated generalized object retrieval and transport of unstructured objects through the use of a highly adaptive compliant grasper mounted ventrally on the helicopter airframe (Pounds et al 2011) (see Figs.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control

2012

View full text Add to dashboard Cite

The application of rotorcraft to autonomous load carrying and transport is a new frontier for Unmanned Aerial Vehicles (UAVs). This task requires that hovering vehicles remain stable and balanced in flight as payload mass is added to the vehicle. If payload is not loaded centered or the vehicle properly trimmed for offset loads, the robot will experience bias forces that must be rejected. In this paper, we explore the effect of dynamic load disturbances introduced by instantaneously increased payload mass and how those affect helicopters and quadrotors under ProportionalIntegral-Derivative flight control. We determine stability bounds within which the changing mass-inertia parameters of the system due to the acquired object will not destabilize these aircraft with this standard flight controller. Additionally, we demonstrate experimentally the stability behavior of a helicopter undergoing a range of instantaneous step payload changes.

show abstract

Section: Helicopter Stability With Added Payloadmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control

2012

View full text Add to dashboard Cite

show abstract

“…In Kuntz and Oh (2008), results using hoops to pick up objects are presented using a test rig that is simulated to move like an MAV. Some theoretical results on aerial vehicles interacting with the environment are presented in Gentili et al (2008), while some experimental results of cooperative manipulation using cables are presented in Michael et al (2009). In Dollar (2010a, 2010b), experimental results of gripping using a commercial electric helicopter are shown along with theoretical results proving the stability of PID control for gripping, by modeling the gripper as an elastic linkage.…”

Section: Related Workmentioning

confidence: 99%

On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor

2012

View full text Add to dashboard Cite

This paper presents the design and development of autonomous attitude stabilization, navigation in unstructured, GPS-denied environments, aggressive landing on inclined surfaces, and aerial gripping using onboard sensors on a low-cost, custom-built quadrotor. The development of a multi-functional micro air vehicle (MAV) that utilizes inexpensive off-the-shelf components presents multiple challenges due to noise and sensor accuracy, and there are control challenges involved with achieving various capabilities beyond navigation. This paper addresses these issues by developing a complete system from the ground up, addressing the attitude stabilization problem using extensive filtering and an attitude estimation filter recently developed in the literature. Navigation in both indoor and outdoor environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. The system utilizes nested controllers for attitude stabilization, vision-based navigation, and guidance, with the navigation controller implemented using a nonlinear controller based on the sigmoid function. The efficacy of the approach is demonstrated by maintaining a stable hover even in the presence of wind gusts and when manually hitting and pulling on the quadrotor. Precision landing on inclined surfaces is demonstrated as an example of an aggressive maneuver, and is performed using only onboard sensing. Aerial gripping is accomplished with the addition of a secondary camera, capable of detecting infrared light sources, which is used to estimate the 3D location of an object, while an under-actuated and passively compliant manipulator is designed for effective gripping under uncertainty.The quadrotor is therefore able to autonomously navigate inside and outside, in the presence of disturbances, and perform tasks such as aggressively landing on inclined surfaces and locating and grasping an object, using only inexpensive, onboard sensors.

show abstract

“…Recently solutions have been proposed for the 2 wires robot [3], [4], [5] (for which a dynamic control law has already been proposed [6]), for the spatial 3 wires robot [7] and very recently for the spatial 4 wires [8], leading respectively to an univariate polynomial of degree 12, 156 and 216. But the solving of robot with 5 wires of general geometry is still eluding us, although some specific geometries have been studied [9], [10], [11] while the interest of such robot has been analyzed [12].…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of the 4-3-1 and 3-2-1 wire-driven parallel crane

Merlet

2013

2013 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

The kinematics of wire-driven parallel robot (WDPR) is one of the most challenging problem of modern kinematics. We investigate here the kinematics of two robots with 3 and 4 wires, in a crane configuration, having specific location of the anchor point on the platform. The 4-3-1 robot has 4 wires, three of them being connected at the same anchor point on the platform. We show that this robot has up to 4 solutions to the forward kinematics. The 3-2-1 robot has 3 wires, two of them being connected at the same point on the platform: we show that the forward kinematics solutions of this robot, that involves its static equilibrium, may be obtained by solving a polynomial of degree 64, leading to a maximum of 256 solutions to the FK. In both cases the proposed maximum number of solutions is much better than the one already known for robots of general structure having 3 or 4 wires. Numerical experiments let us conjecture that the 64th order polynomial will always factor out and that all roots will be obtained from a polynomial of degree 32, leading to at most 128 solutions and we have obtained examples with up to 10 solutions with positive tensions in the wires. We justify this study by experimentally showing that a 4-3-1 robot moving in its workspace may become a 3-2-1 robot as one wire become slack, numerical simulations showing that this will happen in more than 50% of the poses in the workspace (but the 4-3-1 has obviously a larger workspace than the 3-2-1, hence its interest).

show abstract

Cooperative manipulation and transportation with aerial robots

Cited by 181 publications

References 7 publications

Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control

Stability of small-scale UAV helicopters and quadrotors with added payload mass under PID control

On the design and development of attitude stabilization, vision-based navigation, and aerial gripping for a low-cost quadrotor

Kinematic analysis of the 4-3-1 and 3-2-1 wire-driven parallel crane

Contact Info

Product

Resources

About