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Related Experiment Video

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Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping

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Published on: April 21, 2023

Aerial Grasping with a Lightweight Manipulator Based on Multi-Objective Optimization and Visual Compensation.

Haoyao Chen¹, Fengyu Quan², Linxu Fang³

¹School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China. hychen5@hit.edu.cn.

Sensors (Basel, Switzerland)

|October 3, 2019

Summary

This study presents an autonomous aerial grasping system for aerial transportation. The novel approach combines trajectory planning, visual tracking, and kinematic compensation for efficient and safe manipulation.

Keywords:

aerial manipulation trajectory planning visual compensation visual tracking

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Area of Science:

Robotics
Aerial Manipulation
Control Systems

Background:

Autonomous grasping with aerial manipulators is complex due to coupled rotor-manipulator dynamics and motion constraints.
Existing systems face challenges in precise control and collision avoidance during aerial tasks.

Purpose of the Study:

To develop a novel aerial manipulation system for autonomous grasping.
To implement an efficient control approach integrating trajectory planning, visual tracking, and kinematic compensation.

Main Methods:

A multi-objective optimization problem formulated for trajectory planning, incorporating motion constraints and collision avoidance using a genetic algorithm.
A kinematic compensation-based visual trajectory tracking method to manage coupled manipulator-octocopter dynamics without complex calibration.
Development of a lightweight manipulator integrated with an X8 coaxial octocopter and an onboard visual tracking system.

Main Results:

The proposed approach effectively addresses the challenges of autonomous grasping in aerial manipulation.
Experimental results demonstrate the system's capability in performing autonomous grasping tasks.
The kinematic compensation method proved advantageous by eliminating the need for detailed dynamic parameter calibration.

Conclusions:

The developed aerial manipulation system and control strategy are effective for autonomous grasping.
The approach offers a robust solution for aerial transportation and manipulation applications.
Further research can explore advanced control algorithms and real-world deployment scenarios.