Toward Lateral Aerial Grasping &amp; Manipulation Using Scalable Suction

Kessens, Chad C.; Horowitz, Matthew; Liu, Chao; Dotterweich, James; Yim, Mark; Edge, Harris L.

doi:10.1109/icra.2019.8793672

Cited by 11 publications

(10 citation statements)

References 24 publications

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“…The gripper provides a maximum holding force of 6 N and is capable of gripping multiple objects with irregularly structured surfaces. Another gripper designed by Kessens et al [11] is even able to hold forces up to 150 N and is suitable for lateral grasping.…”

Section: Related Workmentioning

confidence: 99%

Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper

Lieret

Kreis

Hofmann

et al. 2022

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

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Duetotheavailabilityof highly efficient unmanned aircraft (UA) and the advancement of the necessary technologies, the use of UA for object manipulation and cargo transport is becoming a more and more relevant research area. A reliable identification and localization of cargo and interaction objects as well as maintaining the required flight precision are essential to guarantee a successful object handling. Within this paper we demonstrate the successful application of an autonomous UA equipped with a lightweight suction gripper for object interaction. We discuss the approach used for precise localization as well as the identification and pose estimation of individual gripping objects. Concluding, the overall system performance is evaluated within an industrial-oriented use case.

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Section: Related Workmentioning

confidence: 99%

Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper

Lieret

Kreis

Hofmann

et al. 2022

Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021

View full text Add to dashboard Cite

show abstract

“…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%

“…Suction cups have been used to generate pressure differences between the outside atmosphere and the low-pressure cavity on the inside of the cup. Researchers have used this to enable stabilisation on featureless surfaces to save power compared to hovering [Kessens et al, 2019, Liu et al, 2020, Tsukagoshi et al, 2015.…”

Section: Vacuummentioning

confidence: 99%

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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“…With this design, the friction with the surface caused by tangential velocities at the time of contacting with surfaces may still bend the suction cup and make it difficult to close the cups and surfaces. To make sealing easy while gripping objects with different sizes, Kessens et al [24] employ multiple self-sealing suction cups in the same direction and achieve versatile aerial grasping [25] and perching [26]. This co-directional arrangement cannot increase the adaptability to angle errors and tangential velocities.…”

Section: Introductionmentioning

confidence: 99%

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

Liu¹,

Wang²,

Wang³

et al. 2022

Preprint

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Toward Lateral Aerial Grasping & Manipulation Using Scalable Suction

Cited by 11 publications

References 24 publications

Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper

Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper

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

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

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