Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle
Author:
McArthur Daniel R.1, Chowdhury Arindam B.1, Cappelleri David J.1
Affiliation:
1. Multi-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907
Abstract
Abstract
This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous door-opening task. Autonomy is achieved through the use of feedback from an onboard camera for door detection & localization, and embedded force and distance sensors in the end-effector for detecting the physical interaction with the door. The results of several experimental flight tests are presented in which the end-effector and image processing strategy were deployed on the I-BC to successfully open a small enclosure door autonomously.
Funder
National Science Foundation
Publisher
ASME International
Subject
Mechanical Engineering
Reference25 articles.
1. Papachristos, C., Alexis, K., and Tzes, A., 2014, “Efficient Force Exertion for Aerial Robotic Manipulation: Exploiting the Thrust-Vectoring Authority of a Tri-Tiltrotor UAV,” Proceedings of the IEEE ICRA, Hong Kong, China, May 31–June 5, pp. 4500–4505. 2. Oosedo, A., Abiko, S., Narasaki, S., Kuno, A., Konno, A., and Uchiyama, M., 2015, “Flight Control Systems of a Quad Tilt Rotor Unmanned Aerial Vehicle for a Large Attitude Change,” Proceedings of the IEEE ICRA, Seattle, WA, May 26–30, pp. 2326–2331. 3. Albers, A., Trautmann, S., Howard, T., Nguyen, T. A., Frietsch, M., and Sauter, C., 2010, “Semi-Autonomous Flying Robot for Physical Interaction With Environment,” Proceedings of the IEEE Conference on RAM, Singapore, June 28–29, pp. 441–446. 4. Jiang, G., and Voyles, R., 2013, “Hexrotor UAV Platform Enabling Dextrous Interaction With Structures-Flight Test,” Proceedings of the IEEE International SSRR, Linköping, Sweden, Oct. 21–26, pp. 1–6. 5. Ryll, M., Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., and Franchi, A., 2017, “6D Physical Interaction With a Fully Actuated Aerial Robot,” Proceedings of the IEEE ICRA, Singapore, May 29–June 3, pp. 5190–5195.
Cited by
7 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|