Benchmarks for Aerial Manipulation
Alejandro Suarez,Victor M. Vega,Manuel J. Fernandez,Guillermo Heredia,Anibal Ollero +4 more
- Vol. 5, Iss: 2, pp 2650-2657
TLDR
This letter analyzes the capabilities and functionalities of several aerial manipulation prototypes (aerial platform + manipulator) by identifying a set of relevant metrics and criteria to evaluate and compare the performance of aerial manipulators.Abstract:
This letter is devoted to benchmarks for aerial manipulation robots (drones equipped with robotic arms), which are demonstrating their potential to conduct tasks involving physical interactions with objects or the environment in high altitude workspaces, being a cost effective solution for example in inspection and maintenance operations. Thus, the letter deals with different methods and criteria to evaluate and compare the performance of aerial manipulators. This is not an easy task, taking into account the wide variety of designs, morphologies and implementations that can be found in recent works. In order to cope with this problem, this letter analyzes the capabilities and functionalities of several aerial manipulation prototypes (aerial platform + manipulator), identifying a set of relevant metrics and criteria. A number of benchmarks are defined to evaluate the performance of the aerial manipulator in terms of accuracy, execution time, manipulation capability, or impact response. Experimental results carried out with a compliant joint aerial manipulator in test-bench and in indoor-outdoor testbeds illustrate some of the benchmarks.read more
Citations
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A Unified Passivity Based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots.
TL;DR: This paper describes a general passivity-based framework for the control of flexible joint robots and shows how, based only on the motor angles, a potential function can be designed which simultaneously incorporates gravity compensation and a desired Cartesian stiffness relation for the link angles.
Journal ArticleDOI
Past, Present, and Future of Aerial Robotic Manipulators
TL;DR: In this paper , the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment, are analyzed.
Journal ArticleDOI
Simultaneous trajectory tracking and aerial manipulation using a multi-stage model predictive control
TL;DR: This is the first study to perform simultaneous trajectory tracking and aerial grasping tasks while ensuring closed-loop stability in the presence of operational constraints, and the results demonstrate the satisfactory performance of the proposed control scheme for robust trajectory Tracking and aerial manipulation missions at an acceptable computational cost.
Journal ArticleDOI
Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays
Alejandro Suarez,Alvaro Caballero,Ambar Garofano,Pedro J. Sanchez-Cuevas,Guillermo Heredia,Anibal Ollero +5 more
TL;DR: The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks and is evaluated in an illustrative outdoor scenario with two arrays of pipes.
Journal ArticleDOI
RB2: Robotic Manipulation Benchmarking with a Twist
Sudeep Dasari,Jianren Wang,Joyce Hong,Shikhar Bahl,Yixin Lin,Austin S. Wang,Abitha Thankaraj,Karanbir Chahal,Berk Calli,Saurabh Gupta,David Held,Lerrel Pinto,Deepak Pathak,Vikash Kumar,Abhi Gupta +14 more
TL;DR: This paper re-imagine benchmarking for robotic manipulation as state-of-the-art algorithmic implementations, alongside the usual set of tasks and experimental protocols, and establishes a single global ranking for existing (and proposed) SOTA algorithms.
References
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Journal ArticleDOI
A Unified Passivity-based Control Framework for Position, Torque and Impedance Control of Flexible Joint Robots
TL;DR: In this article, a general passivity-based framework for the control of flexible joint robots is described, and the relations between the individual contributions are highlighted, and an overview of several applications are given in which the controllers have been applied.
Proceedings ArticleDOI
The YCB object and Model set: Towards common benchmarks for manipulation research
TL;DR: The Yale-CMU-Berkeley (YCB) Object and Model set is intended to be used for benchmarking in robotic grasping and manipulation research, and provides high-resolution RGBD scans, physical properties and geometric models of the objects for easy incorporation into manipulation and planning software platforms.
Proceedings ArticleDOI
Design, modeling, estimation and control for aerial grasping and manipulation
TL;DR: This paper presents the design of several light-weight, low-complexity grippers that allow quadrotors to grasp and perch on branches or beams and pick up and transport payloads and shows the robot's ability to estimate the mass, the location of the center of mass and the moments of inertia to improve tracking performance.
Proceedings ArticleDOI
Aerial manipulation using a quadrotor with a two DOF robotic arm
TL;DR: Overall result shows that the proposed approach demonstrates satisfactory performance as a potential platform which can be utilized in various applications such as inspection, manipulation, or transportation in remote places.
Journal ArticleDOI
Series elastic actuators for high fidelity force control
TL;DR: In this paper, a compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator, and a position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law.
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