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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilizace a řízení týmů vzájemně lokalizovaných autonomních helikoptér letících oblastmi s velkým výskytem překážek</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

6th International Workshop on Modelling and Simulation for Autonomous Systems

ISBN

9783030438890

ISSN

—

e-ISSN

1611-3349

Počet stran výsledku

18

Strana od-do

162-179

Název nakladatele

Springer

Místo vydání

Wien

Místo konání akce

Palermo

Datum konání akce

29. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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