Towards a Flying Assistant Paradigm: the OTHex
Nicolas Staub, Davide Bicego, Quentin Sablé, Victor Arellano, Subodh Mishra, Antonio Franchi
Abstract
This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.
BibTeX
@inproceedings{icra2018_towardsaflyingas,
title = {Towards a Flying Assistant Paradigm: the OTHex},
author = {Nicolas Staub and Davide Bicego and Quentin Sablé and Victor Arellano and Subodh Mishra and Antonio Franchi},
booktitle = {ICRA 2018},
year = {2018}
}