TY - GEN
T1 - Development of SAM
T2 - 2019 IEEE International Conference on Robotics and Automation, ICRA 2019
AU - Sarkisov, Yuri S.
AU - Kim, Min Jun
AU - Bicego, Davide
AU - Tsetserukou, Dzmitry
AU - Ott, Christian
AU - Franchi, Antonio
AU - Kondak, Konstantin
PY - 2019/8
Y1 - 2019/8
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/85068687257
U2 - 10.1109/ICRA.2019.8793592
DO - 10.1109/ICRA.2019.8793592
M3 - Conference contribution
AN - SCOPUS:85068687257
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5323
EP - 5329
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - IEEE
Y2 - 20 May 2019 through 24 May 2019
ER -