Title :
The Yale Aerial Manipulator: Grasping in flight
Author :
Pounds, Paul E.I. ; Bersak, Daniel R. ; Dollar, Aaron M.
Author_Institution :
Dept. of Mech. Eng. & Mater. Sci., Yale Univ., New Haven, CT, USA
Abstract :
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.
Keywords :
aerospace control; grippers; helicopters; manipulators; mobile robots; remotely operated vehicles; stability; Yale aerial manipulator; aircraft stability; flight dynamics; helicopter unmanned aerial vehicle; objects grasping; rotorcraft; underactuated gripper; Conferences; Grasping; Grippers; Helicopters; Manipulators;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5980477
