Development of SAM: Cable-suspended aerial manipulator

Yuri S. Sarkisov, Min Jun Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, Antonio Franchi, Konstantin Kondak

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)

Abstract

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherIEEE
Pages5323-5329
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - Aug 2019
Externally publishedYes
Event2019 IEEE International Conference on Robotics and Automation, ICRA 2019 - Palais des Congrès de Montreal, Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Abbreviated titleICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

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