11 accepted papers
Vision-based tactile sensing, an economical and widely utilized methodology, has the potential to offer crucial contact geometry information for localizing objectives even in cases of visual occlusion. However, this kind of fingertip sensor is limited. When a person picks up a relatively small objec
This research proposes a passively driven perching mechanism designed to land not only on flat surface but also on various shaped objects, such as bar, plate, and spherical object, without the use of additional actuators. The perching mechanism consists of three under actuated fingers, and utilizes
Inspection and maintenance work at heights car-ries significant risks and is time consuming for human workers. Therefore, aerial manipulators are expected to replace these tasks. This paper presents a multirotor UAV equipped with a single horizontal thruster. This minimal configuration en-ables phys…
Pruning work at high altitude is a dangerous work with a high risk of accidents for human workers. In this research, we propose a multirotor flying robot that is equipped with a wire-suspended device and performs pruning task. We use a saber saw as a cutting tool. If the cutting tool is installed on…
We describe the concept, design and implementation of a unique manipulator system for a multirotor aerial vehicle. The proposed manipulator system consists of three robotic arms attached to a multirotor airframe with the objective to provide the ability to manipulate single or multiple objects as we…
We herein propose a long-reach aerial manipulator to allow the manipulation of objects several meters away from an unmanned aerial vehicle (UAV). The system consists of a multirotor platform with winch mechanism and wire-suspended gripper module equipped with a camera and swing-suppression device. T
We have proposed airborne docking using two multi-rotor aerial robots. This paper presents a transport multi-rotor UAV with winch mechanism and a small multi-rotor with onboard locolization and mobile manipulation system. The winch mechanism enables the UAV to lower and raise a bar to transport anot…
We describe an implementation of torsional work at high altitude employing an aerial robot equipped with an upward directed hand on top of a hexarotor airframe, considering its workspace above the airframe. The aerial robot in this study consists of a small hexarotor platform and a robotic hand modu…
While aerial vehicles have become more and more popular in the hobbyist sector as a platform for photography and cinematography, currently there is little utilization of aerial vehicles in an industrial environment. In this work, we describe our efforts to develop an aerial robotics platform with th…
We have proposed a multimodal sensing with optical device and its application to robotic grasp control. The proposed device provides both tactile and proximity information with high spatial resolution on the same scale of coordinates, that is necessary while grasping small and complicated-shaped obj…
We describe an aerial robot equipped with an upward directed hand on top of a quadrotor airframe for realizing an aerial manipulation task at high altitude, considering a work space above the robot. The aerial robot in this study consists of a small quadrotor platform, a robotic hand module includin…