9 accepted papers
This paper presents a bilateral teleoperation system based on smart servos for the realization of dexterous manipulation tasks with aerial robots or in ground service applications, facilitating the transferability of cognitive capabilities of human workers to robots operating remotely or in high alt…
Ground testing is of paramount importance to verify and validate space operations and the associated control algorithms before on-orbit deployment. Although state-of-the-art facilities are capable of reproducing zero-G environment with high degree of fidelity, these infrastructures can be complement…
The state-dependent Riccati equation (SDRE) is a nonlinear optimal controller with a flexible structure which is one of the main advantages of this method. Here in this work, this flexibility is used to present a novel design for handling a soft constraint for state variables (trajectories). The con…
This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aeria…
Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may…
This paper presents the motion planning of a novel aerial robotic system with a long-bar extension and two arms for long-reach manipulation in cluttered environments. The novel aerial long-reach manipulator includes a passive revolute joint between the aerial platform and the dual arm. This feature…
This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints designed for aerial manipulation with a multirotor platform. Each arm provides four degrees of freedom (DOF) for end effector positioning in a kinematic configuration close to the human arm: shoulder pitch, r…
This paper presents the design and experimental validation of a compliant and lightweight 3-DOF robotic arm - shoulder yaw, shoulder pitch and elbow pitch joints - equipped with a compliant finger module intended for aerial inspection and manipulation in contact with the environment. A simple transm…
This paper presents the design and experimental validation of a low weight compliant arm for aerial manipulation, which uses a linear actuator to move the elbow joint. The proposed arm design allows for estimating payload mass, as well as detecting collisions against obstacles in the forearm. The co…