Towards valve turning using a dual-arm aerial manipulator | IEEE Conference Publication | IEEE Xplore

Towards valve turning using a dual-arm aerial manipulator


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 a...Show More

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.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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Conference Location: Chicago, IL, USA

References

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