The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

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The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Gioioso, Guido / Franchi, Antonio / Salvietti, Gionata / Scheggi, Stefano / Prattichizzo, Domenico

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.

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Dokumentinformationen

Titel :

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Beteiligte:

Gioioso, Guido (Autor:in) / Franchi, Antonio (Autor:in) / Salvietti, Gionata (Autor:in) / Scheggi, Stefano (Autor:in) / Prattichizzo, Domenico (Autor:in)

Erschienen in:

2014 IEEE International Conference on Robotics and Automation (ICRA) ; 4335-4341

Erscheinungsdatum :

2014-05-01

Format / Umfang :

3067861 byte

ISBN :

978-1-4799-3685-4

DOI :

https://doi.org/10.1109/ICRA.2014.6907490

Medientyp :

Aufsatz (Konferenz)