Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator
| Autor: | Ioannis Georgilas, Thomas Richardson, Salua Hamaza, Pedro Ramiro Palos Sánchez, Anibal Ollero, Manuel J. Fernandez, Guillermo Heredia |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
Control and Optimization
applications Computer science Real-time computing Aerial Robotics Applications Biomedical Engineering 02 engineering and technology mechanics and control Intelligent sensor Aerial Robotics Mechanics and Control aerial systems Artificial Intelligence Range (aeronautics) 0202 electrical engineering electronic engineering information engineering Manipulation Manipulator Mechanical Engineering mechanism design 021001 nanoscience & nanotechnology Computer Science Applications Human-Computer Interaction Task (computing) Aerial systems applications Control and Systems Engineering Key (cryptography) 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition 0210 nano-technology Multirotor |
| Zdroj: | Hamaza, S, Georgilas, I, Fernandez, M, Sanchez-Cuevas, P, Richardson, T, Heredia, G & Ollero, A 2019, ' Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator ', IEEE Robotics and Automation Letters, vol. 4, no. 3, 8719995, pp. 2793-2800 . https://doi.org/10.1109/LRA.2019.2918448 Hamaza, S, Georgilas, I, Fernandez, M, Sanchez, P, Richardson, T, Heredia, G & Ollero, A 2019, ' Sensor Installation and Retrieval Operations using an Unmanned Aerial Manipulator ', IEEE Robotics and Automation Letters, vol. 4, no. 3, 8719995, pp. 2793-2800 . https://doi.org/10.1109/LRA.2019.2918448 |
| DOI: | 10.1109/LRA.2019.2918448 |
| Popis: | A wide range of applications for which unmanned aerial vehicles (UAVs) are ideally suited rely on the development of manipulators capable of exchanging forces with the environment. One such application is the installation and retrieval of intelligent sensors for monitoring wide-spread areas and locations that are difficult to access by any other means. Within this letter, we report on both indoor and outdoor flights tests of a novel force controlled lightweight compliant manipulator that allows a UAV to carry out this type of task. Installation and retrieval are both demonstrated with different scenarios, indoors and outdoors. Key results include interaction forces up to 22 N exerted by a small-sized multirotor, placement and retrieval operations carried out on flat as well as cylindrical surfaces, and an analysis of the overall system. The results of multiple flight experiments clearly demonstrate the potential of this approach for the deployment of sensors and other force-related tasks. |
| Databáze: | OpenAIRE |
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