TY - GEN
T1 - Aerial manipulation for the workspace above the airframe
AU - Shimahara, S.
AU - Ladig, R.
AU - Suphachart, L.
AU - Hirai, S.
AU - Shimonomura, K.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
KW - Cameras
KW - Field programmable gate arrays
KW - Grippers
KW - Machine vision
KW - Robot vision systems
UR - http://www.scopus.com/inward/record.url?eid=2-s2.0-84958174581&partnerID=MN8TOARS
U2 - 10.1109/IROS.2015.7353559
DO - 10.1109/IROS.2015.7353559
M3 - Article in proceedings
SP - 1453
EP - 1458
BT - IEEE International Conference on Intelligent Robots and Systems
ER -