Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00348451" target="_blank" >RIV/68407700:21230/20:00348451 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1007/978-3-030-43890-6_13" target="_blank" >https://doi.org/10.1007/978-3-030-43890-6_13</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-030-43890-6_13" target="_blank" >10.1007/978-3-030-43890-6_13</a>

Result language
angličtina
Original language name
Design of an Active-Reliable Grasping Mechanism for Autonomous Unmanned Aerial Vehicles
Original language description
This paper presents a novel design of an active grasping mechanism for autonomous Unmanned Aerial Vehicles (UAVs) aimed to carry ferromagnetic objects in assembly tasks. The proposed design uses electromagnets along with a combination of sensors to provide fast and reliable feedback. The designed gripper with its control system is aimed to be fully autonomous and will be employed in a task in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 competition where a group of autonomous UAVs cooperatively build a wall. The design is optimized for the Tarot 650 drone platform and for outdoor operation, while taking into consideration robustness of performance and resilience to aerial maneuvers. We describe the design of the gripper, the overall system and the approach used to obtain the feedback from the sensors which is crucial for robust aerial grasping and for high level planning of the assembly task. Various outdoor experiments were conducted on fabricated bricks to verify the proposed approach and to demonstrate the ability of the system to autonomously build a wall.
Czech name
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Czech description
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Project
<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2020
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
6th International Workshop on Modelling and Simulation for Autonomous Systems
ISBN
9783030438890
ISSN
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e-ISSN
1611-3349
Number of pages
18
Pages from-to
162-179
Publisher name
Springer
Place of publication
Wien
Event location
Palermo
Event date
Oct 29, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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