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Cooperative manipulation and transportation with aerial robots

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Abstract

In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.

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Authors and Affiliations

  1. University of Pennsylvania, Philadelphia, PA, USA

    Nathan Michael, Jonathan Fink & Vijay Kumar

Authors
  1. Nathan Michael
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  2. Jonathan Fink
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  3. Vijay Kumar
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Correspondence to Nathan Michael.

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Michael, N., Fink, J. & Kumar, V. Cooperative manipulation and transportation with aerial robots. Auton Robot 30, 73–86 (2011). https://doi.org/10.1007/s10514-010-9205-0

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  • DOI: https://doi.org/10.1007/s10514-010-9205-0

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