Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines

Viet Duong Hoang; Aljaz Kramberger; Emad Ebeid

doi:10.1109/IROS55552.2023.10341434

Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines

Viet Duong Hoang^*, Aljaz Kramberger, Emad Ebeid

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

Drone grasping on power lines for recharging is challenging since it requires the gripper to be lightweight, carried by a drone, and efficient for a firm grasp. A deep understanding of the power line nature and its magnetic characteristic helps ease such challenges and bring new knowledge to gripper design. In this work, a novel adaptive, lightweight, and fail-safe magnetic gripper with a recharging feature is presented. The gripper exploits the radiated magnetic field of the lines for charging and holding the drone and can easily detach from the line. The gripper design has been validated in the lab and on a quadcopter with a real power line.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Publication date	Oct 2023
Pages	4547-4554
ISBN (Electronic)	978-1-6654-9190-7
DOIs	https://doi.org/10.1109/IROS55552.2023.10341434
Publication status	Published - Oct 2023
Event	IROS 2023 - Detroit, United States Duration: 1. Oct 2023 → 5. Oct 2023

Conference

Conference	IROS 2023
Country/Territory	United States
City	Detroit
Period	01/10/2023 → 05/10/2023

Series	Proceedings - IEEE International Conference on Intelligent Robots and Systems
ISSN	2153-0858

Documents & Links

10.1109/IROS55552.2023.10341434

Open Access VersionAccepted manuscript, 3.87 MB

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@inproceedings{9905c3d10beb498a90667c03ac443b2e,

title = "Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines",

abstract = "Drone grasping on power lines for recharging is challenging since it requires the gripper to be lightweight, carried by a drone, and efficient for a firm grasp. A deep understanding of the power line nature and its magnetic characteristic helps ease such challenges and bring new knowledge to gripper design. In this work, a novel adaptive, lightweight, and fail-safe magnetic gripper with a recharging feature is presented. The gripper exploits the radiated magnetic field of the lines for charging and holding the drone and can easily detach from the line. The gripper design has been validated in the lab and on a quadcopter with a real power line.",

author = "Hoang, {Viet Duong} and Aljaz Kramberger and Emad Ebeid",

year = "2023",

month = oct,

doi = "10.1109/IROS55552.2023.10341434",

language = "English",

series = "Proceedings - IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "4547--4554",

booktitle = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

note = "IROS 2023 ; Conference date: 01-10-2023 Through 05-10-2023",

}

Hoang, VD , Kramberger, A & Ebeid, E 2023, Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, Proceedings - IEEE International Conference on Intelligent Robots and Systems, pp. 4547-4554, IROS 2023, Detroit, Michigan, United States, 01/10/2023. https://doi.org/10.1109/IROS55552.2023.10341434

Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines. / Hoang, Viet Duong ; Kramberger, Aljaz ; Ebeid, Emad.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023. p. 4547-4554 (Proceedings - IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines

AU - Hoang, Viet Duong

AU - Kramberger, Aljaz

AU - Ebeid, Emad

PY - 2023/10

Y1 - 2023/10

N2 - Drone grasping on power lines for recharging is challenging since it requires the gripper to be lightweight, carried by a drone, and efficient for a firm grasp. A deep understanding of the power line nature and its magnetic characteristic helps ease such challenges and bring new knowledge to gripper design. In this work, a novel adaptive, lightweight, and fail-safe magnetic gripper with a recharging feature is presented. The gripper exploits the radiated magnetic field of the lines for charging and holding the drone and can easily detach from the line. The gripper design has been validated in the lab and on a quadcopter with a real power line.

AB - Drone grasping on power lines for recharging is challenging since it requires the gripper to be lightweight, carried by a drone, and efficient for a firm grasp. A deep understanding of the power line nature and its magnetic characteristic helps ease such challenges and bring new knowledge to gripper design. In this work, a novel adaptive, lightweight, and fail-safe magnetic gripper with a recharging feature is presented. The gripper exploits the radiated magnetic field of the lines for charging and holding the drone and can easily detach from the line. The gripper design has been validated in the lab and on a quadcopter with a real power line.

UR - https://ieee-iros.org/

UR - https://youtu.be/JBD0Ww7p3jM

U2 - 10.1109/IROS55552.2023.10341434

DO - 10.1109/IROS55552.2023.10341434

M3 - Article in proceedings

T3 - Proceedings - IEEE International Conference on Intelligent Robots and Systems

SP - 4547

EP - 4554

BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

T2 - IROS 2023

Y2 - 1 October 2023 through 5 October 2023

ER -

Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines

Abstract

Conference

Documents & Links

SDU Link

Other files and links

Fingerprint

Advanced Self-Charging Magnetic Grasping System with EMI Mitigation from Electric Sparks for Drones on High-Voltage Power Lines

Cite this

Adaptive and Fail-safe Magnetic Gripper with Charging Function for Drones on Power lines

Abstract

Conference

Documents & Links

SDU Link

Other files and links

Fingerprint

Related research output

Advanced Self-Charging Magnetic Grasping System with EMI Mitigation from Electric Sparks for Drones on High-Voltage Power Lines

Cite this