The Yale Aerial Manipulator: Grasping in Flight

摘要：

This video demonstrates a helicopter Unmanned Aerial Vehicle (UAV) research platform for grasping objects while in flight. Typically, helicopters avoid interacting with objects in their surroundings due to the unstable flight dynamics of rotorcraft and coupled mechanics encountered during contact. We introduce the Yale Aerial Manipulator and demonstrate stable grasping of a range of objects both when landed and while hovering. We discuss the platform’s underactuated gripper and its contribution to aircraft stability while grasping.

作者: Paul E.I. Pounds Daniel R. Bersak Aaron M. Dollar

作者单位: Department of Mechanical Engineering and Materials Science,School of Engineering and Applied Science,Yale University,New Haven,CT USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2974-2975

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）