Grasping From the Air: Hovering Capture and Load Stability
This paper reports recent research efforts to advance the functionality of Unmanned Aerial Vehicles (UAVs) beyond passive observation to active interaction with and manipulation of objects. The archetypical aerial manipulation task—grasping objects during flight—is difficult due to the unstable dynamics of rotorcraft and coupled object-aircraft motion. In this paper, we analyze key challenges encountered when lifting a grasped object and transitioning into laden free-flight. We demonstrate that dynamic load disturbances introduced by the load mass will be rejected by a helicopter with PID flight control. We determine stability bounds in which the changing mass-inertia parameters of the system due to the grasped object will not destabilize this flight controller. The conditions under which transient partial contact mechanics of objects resting on a surface will not induce instability are identified. We demonstrate grasping and retrieval of a variety of objects while hovering, without touching the ground, using the Yale Aerial Manipulator testbed.
Paul E. I. Pounds Daniel R. Bersak Aaron M. Dollar
Department of Mechanical Engineering and Materials Science,School of Engineering and Applied Science,Yale University,New Haven,CT USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
2491-2498
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）