Aerial manipulation for the workspace above the airframe
Syohei Shimahara, Robert Ladig, Suphachart Leewiwatwong, Shinichi Hirai, Kazuhiro Shimonomura
Abstract
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 including a gripper and slider mechanism, and an embedded vision system. Positioning of the hand is autonomously performed through a vision-based control system. In this system, position and orientation of a bar-like object is measured and detected through a monocular camera image and FPGA-based on-board processing. Through experiments, the grasping of a bar located above the robot, keeping the grasp with shut off propellers and succeeding take off by releasing a bar was achieved.
BibTeX
@inproceedings{iros2015_aerialmanipulati,
title = {Aerial manipulation for the workspace above the airframe},
author = {Syohei Shimahara and Robert Ladig and Suphachart Leewiwatwong and Shinichi Hirai and Kazuhiro Shimonomura},
booktitle = {IROS 2015},
year = {2015}
}