Towards valve turning using a dual-arm aerial manipulator
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Authors
Korpela, Christopher M.
Orsag, Matko
Oh, Paul
Issue Date
2014-09
Type
proceedings-article
Language
Keywords
Valves , Turning , Torque , Manipulator dynamics , Cameras , Joints
Alternative Title
Abstract
We propose a framework for valve turning using an aerial vehicle endowed with dual multi-degree of freedom manipulators. A tightly integrated control scheme between the aircraft and manipulators is mandated for tasks requiring aircraft to environmental coupling. Feature detection is well-established for both ground and aerial vehicles and facilitates valve detection and arm tracking. Force feedback upon contact with the environment provides compliant motions in the presence of position error and coupling with the valve. We present recent results validating the valve turning framework using the proposed aircraft-arm system during flight tests.
Description
Citation
C. Korpela, M. Orsag and P. Oh, "Towards valve turning using a dual-arm aerial manipulator," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, 2014, pp. 3411-3416, doi: 10.1109/IROS.2014.6943037.
Publisher
IEEE