The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.
The flying hand: A formation of UAVs for cooperative aerial tele-manipulation
2014-05-01
3067861 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
FLYING CHARGING STATION FOR TRANSPORTING UNMANNED AERIAL VEHICLES (UAVS)
Europäisches Patentamt | 2024
|Cooperative Tracking Framework for Multiple Unmanned Aerial Vehicles (UAVs)
Springer Verlag | 2022
|Decentralized cooperative aerial surveillance using fixed-wing miniature UAVs
Tema Archiv | 2006
|