Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

Nº Artículo: 8927

Detalles Bibliográficos
Autores: Suárez Fernández-Miranda, Alejandro, Sánchez Cuevas, Pedro Jesús, Heredia Benot, Guillermo, Ollero Baturone, Aníbal
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2020
País:España
Institución:Universidad de Sevilla (US)
Repositorio:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/104538
Acceso en línea:https://hdl.handle.net/11441/104538
https://doi.org/10.3390/app10248927
Access Level:acceso abierto
Palabra clave:Aerial manipulation
Dual arm
Compliance
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spelling Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual ArmsSuárez Fernández-Miranda, AlejandroSánchez Cuevas, Pedro JesúsHeredia Benot, GuillermoOllero Baturone, AníbalAerial manipulationDual armComplianceNº Artículo: 8927This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform w.r.t. (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.Programa Horizonte 2019. Unión Europea (AERIAL-CORE) 871479Consejo Europeo de Investigación (GRIFFIN Advanced Grant) 788247MDPIIngeniería de Sistemas y AutomáticaTEP - 151: Robótica, Visión y Control2020info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/104538https://doi.org/10.3390/app10248927reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésApplied Sciences, 10, 1-17.871479788247https://www.mdpi.com/search?q=Aerial+Physical+Interaction+in+Grabbing+Conditions+with+Lightweight+and+Compliant+Dual+Arms&journal=applsciinfo:eu-repo/semantics/openAccessoai:idus.us.es:11441/1045382026-06-17T12:51:07Z
dc.title.none.fl_str_mv Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
title Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
spellingShingle Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
Suárez Fernández-Miranda, Alejandro
Aerial manipulation
Dual arm
Compliance
title_short Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
title_full Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
title_fullStr Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
title_full_unstemmed Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
title_sort Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms
dc.creator.none.fl_str_mv Suárez Fernández-Miranda, Alejandro
Sánchez Cuevas, Pedro Jesús
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author Suárez Fernández-Miranda, Alejandro
author_facet Suárez Fernández-Miranda, Alejandro
Sánchez Cuevas, Pedro Jesús
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author_role author
author2 Sánchez Cuevas, Pedro Jesús
Heredia Benot, Guillermo
Ollero Baturone, Aníbal
author2_role author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
TEP - 151: Robótica, Visión y Control
dc.subject.none.fl_str_mv Aerial manipulation
Dual arm
Compliance
topic Aerial manipulation
Dual arm
Compliance
description Nº Artículo: 8927
publishDate 2020
dc.date.none.fl_str_mv 2020
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/104538
https://doi.org/10.3390/app10248927
url https://hdl.handle.net/11441/104538
https://doi.org/10.3390/app10248927
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Applied Sciences, 10, 1-17.
871479
788247
https://www.mdpi.com/search?q=Aerial+Physical+Interaction+in+Grabbing+Conditions+with+Lightweight+and+Compliant+Dual+Arms&journal=applsci
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301603

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