Reconfigurable, Adaptive, Lightweight Grasping Mechanisms for Aerial Robotic Platforms

Hingston, Lydia; Mace, Jonathan; Buzzatto, Joao; Liarokapis, Minas

doi:10.1109/ssrr50563.2020.9292581

Cited by 22 publications

(12 citation statements)

References 15 publications

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“…Work from this challenge has been mention in the following section. [Fiaz et al, 2017, Fiaz et al, 2018, Gawel et al, 2017, Sutera et al, 2020, Bahnemann et al, 2017, Spurný et al, 2019 Medium Low High Vacuum [Kessens et al, 2019, Liu et al, 2020, Kessens et al, 2016, Tsukagoshi et al, 2015 Medium Medium High Tendon [Hingston et al, 2020, Gomez-Tamm et al, 2020, Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018 Medium Medium Medium…”

Section: Aerial Graspingmentioning

confidence: 99%

“…Rigid Joints [Hingston et al, 2020, Gomez-Tamm et al, 2020, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018] Soft Joints [Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019…”

Section: Research Problem Referencesmentioning

confidence: 99%

“…A novel dual gripping mechanism was proposed by Hingston et al using both a net and slider based gripper [Hingston et al, 2020]. Both of these grippers are illustrated in Figure 14.…”

Section: Rigid Jointsmentioning

confidence: 99%

“…Figure 14: The dual reconfigurable grasping mechanism from Hingston et al showing the net-based gripper design (a) and the slider-based gripper design (b)[Hingston et al, 2020] …”

mentioning

confidence: 99%

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Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

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Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore, improved control schemes and vehicle dynamics are better able to model the payload and improved perception algorithms to detect key features within the unmanned aerial vehicle's (UAV) environment. In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted. First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed. Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorises the topic into two areas: drone operations and drone-truck collaborative operations.

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Section: Aerial Graspingmentioning

confidence: 99%

Section: Research Problem Referencesmentioning

confidence: 99%

“…A novel dual gripping mechanism was proposed by Hingston et al using both a net and slider based gripper [Hingston et al, 2020]. Both of these grippers are illustrated in Figure 14.…”

Section: Rigid Jointsmentioning

confidence: 99%

“…Figure 14: The dual reconfigurable grasping mechanism from Hingston et al showing the net-based gripper design (a) and the slider-based gripper design (b)[Hingston et al, 2020] …”

mentioning

confidence: 99%

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Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

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“…In general, unmanned aerial vehicles are a type of mobile robots that may require self-adaptation in multiple situations to support effective autonomous behavior. For instance, an aerial vehicle can use different aerial motion controllers that can be dynamically selected according to the variable weight (e.g., a cargo drones or aerial robotic platforms with grasping mechanisms [35]), or according to the expected response time of the task to be done. An aerial robot can also use different self-localization methods (e.g., GPS localization or alternative visual-based methods using different types of cameras) and they can be dynamically selected according to the particular characteristics of the environment (outdoors or indoors, distance to obstacles, etc.…”

Section: B Reusability For Multiple Aerial Robotic Applicationsmentioning

confidence: 99%

Behavior coordination for self-adaptive robots using constraint-based configuration

Molina,

Santamaria

2021

Preprint

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Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The architecture of a self-adaptive robot is complex because it should include automatic mechanisms to dynamically configure the elements that control robot behaviors. To facilitate the construction of this type of architectures, it is useful to have general solutions in the form of software tools that may be applicable to different robotic systems. This paper presents an original algorithm to dynamically configure the control architecture, which is applicable to the development of self-adaptive autonomous robots. This algorithm uses a constraint-based configuration approach to decide which basic robot behaviors should be activated in response to both reactive and deliberative events. The algorithm uses specific search heuristics and initialization procedures to achieve the performance required by robotic systems. The solution has been implemented as a software development tool called Behavior Coordinator CBC (Constraint-Based Configuration), which is based on ROS and open source, available to the general public. This tool has been successfully used for building multiple applications of autonomous aerial robots.

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Autonomous aerial robotics for package delivery: A technical review

Saunders

Saeedi

2023

Journal of Field Robotics

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Small unmanned aerial vehicles (UAVs) have gained significant interest in the last decade. More specifically these vehicles have the capacity to impact package delivery logistics in a disruptive way. This paper reviews research problems and state‐of‐the‐art solutions that facilitate package delivery. Different aerial manipulators and grippers are listed along with control techniques to address stability issues. Landing on a platform is next discussed which encompasses static and dynamic platforms. Landing on a dynamic platform presents further challenges. This includes delayed control responses and poor precision of the relative motion between the platform and the aerial vehicle. Subsequently, risks such as weather conditions, state estimation, and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorizes the topic into two areas: drone operations and drone–truck collaborative operations. Additionally, we compare the solutions against design, environmental, and legal constraints.

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Reconfigurable, Adaptive, Lightweight Grasping Mechanisms for Aerial Robotic Platforms

Cited by 22 publications

References 15 publications

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Behavior coordination for self-adaptive robots using constraint-based configuration

Autonomous aerial robotics for package delivery: A technical review

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