Spiral Zipper Manipulator for Aerial Grasping and Manipulation
Chao Liu, Abhraneel Bera, Thulani Tsabedze, Daniel Edgar, Mark Yim
Abstract
This paper presents a novel manipulator for aerial vehicles to perform grasping and manipulation tasks. The goal is to design a low-cost, relatively light but strong manipulator with a large workspace and compact storage space that can be mounted on an unmanned aerial system. A novel design solution based on the Spiral Zipper, an expanding tube, combined with tether actuators is presented. A model of the system is introduced and the control method and pose estimator are developed and tested with some experiments showing the reliable performance of the overall system. An experiment with a self-sealing suction cup gripper demonstrates manipulation while mounted on the aerial vehicle frame.
BibTeX
@inproceedings{iros2019_spiralzippermani,
title = {Spiral Zipper Manipulator for Aerial Grasping and Manipulation},
author = {Chao Liu and Abhraneel Bera and Thulani Tsabedze and Daniel Edgar and Mark Yim},
booktitle = {IROS 2019},
year = {2019}
}