Flight Stability in Aerial Redundant Manipulators

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#Christopher M. Korpela #Matko Orsag #Todd W. Danko #Bryan Kobe #Clayton McNeil #Robert Pisch #Paul Y. Oh #mobile manipulation #aerial vehicle #rotorcraft # hybrid structure #UAVs #force feedback

This video shows some results from ongoing efforts toward mobile manipulation from an aerial vehicle. Recent tests and results from a prototype rotorcraft have shown that the hybrid structure increases stability during flight and manipulation. Since UAVs require significant setup time, suitable testing locations, and have tendencies to crash, the authors developed an aerial manipulation test and evaluation environment that provides controllable and repeatable experiments. By using force feedback techniques, they have designed multiple, dexterous, redundant manipulators that can grasp objects such as tools and small objects.

This video shows some results from ongoing efforts toward mobile manipulation from an aerial vehicle. Recent tests and results from a prototype rotorcraft have shown that the hybrid structure increases stability during flight and manipulation. The authors developed an aerial manipulation test and evaluation environment that provides controllable and repeatable experiments.

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