Airborne Docking for Multi-Rotor Aerial Manipulations

Ryo Miyazaki; Rui Jiang; Hannibal Paul; Koji Ono; Kazuhiro Shimonomura

IROS 2018poster44 citations

Airborne Docking for Multi-Rotor Aerial Manipulations

Ryo Miyazaki, Rui Jiang, Hannibal Paul, Koji Ono, Kazuhiro Shimonomura

Abstract

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 another UAV attached to it. The airborne docking method used in our work is chosen in order to avoid the effect of downwash generated by the multi-rotors. With experiments we have verified the possibility of airborne docking, and evaluated how it influences the transport multi-rotor UAV as the load is changed, using the IMU data of UAV.

BibTeX

@inproceedings{iros2018_airbornedockingf,
  title = {Airborne Docking for Multi-Rotor Aerial Manipulations},
  author = {Ryo Miyazaki and Rui Jiang and Hannibal Paul and Koji Ono and Kazuhiro Shimonomura},
  booktitle = {IROS 2018},
  year = {2018}
}