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Arash Kalantari

4 accepted papers

2024

Design, Prototype, and Performance Assessment of an Autonomous Manipulation System for Mars Sample Recovery Helicopter

Arash Kalantari, Alex Brinkman, Kalind Carpenter, Matthew Gildner, Justin Jenkins, David Newill-Smith +3
IROS 2024poster

This paper presents the design, prototype, and testing of a 150 g (current best estimate) manipulation system that enables Mars Sample Recovery Helicopter (SRH) concept to autonomously pickup, stow, and drop-off Returnable Sample Tube and Glove Assemblies (RGAs) on the surface of Mars next to the Sa…

Cited by 0Source ↗Scholar ↗
2023

Demonstrating Autonomous 3D Path Planning on a Novel Scalable UGV-UAV Morphing Robot

Eric Sihite, Filip Slezak, Ioannis Mandralis, Adarsh Salagame, Milad Ramezani, Arash Kalantari +2
IROS 2023poster

Some animals exhibit multi-modal locomotion capability to traverse a wide range of terrains and environments, such as amphibians that can swim and walk or birds that can fly and walk. This capability is extremely beneficial for expanding the animal's habitat range and they can choose the most energy…

Cited by 13Source ↗Scholar ↗
2023

PARSEC: An Aerial Platform for Autonomous Deployment of Self-Anchoring Payloads on Natural Vertical Surfaces

Patrick Spieler, Skylar X. Wei, Monica Li, Andrew Galassi, Kyle Uckert, Arash Kalantari +1
ICRA 2023poster

PARSEC (Payload Anchoring Robotic System for the Exploration of Cliffs) is an autonomy-equipped aerial manipulator that can deploy self-anchoring payloads on rocky vertical surfaces. It consists of a hexacopter and a two Degrees of Freedom (2 DoF) mass balancing manipulator, which can autonomously d…

Cited by 3Source ↗Scholar ↗
2015

Autonomous perching and take-off on vertical walls for a quadrotor micro air vehicle

Arash Kalantari, Karan Mahajan, Donald Ruffatto, Matthew Spenko
ICRA 2015poster

This paper details an autonomous perching and take-off method for a quadrotor micro air vehicle (MAV) using a novel dry adhesive gripper on smooth vertical walls. The gripper mechanism uses three directional dry adhesive pads in a triangular configuration. Each pad is equipped with a force sensor th…

Cited by 113Source ↗Scholar ↗