Chapter 26 — Flying Robots

Towards valve turning using a dual-arm aerial manipulator

A framework was proposed 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-environment 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. The video presents results validating the valve turning framework using the proposed aircraft-arm system during flight tests.
Christopher Korpela, Matko Orsag, Paul Oh, Stjepan Bogdan
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