@inproceedings{08f3e0ebbf6b460ca52104c7c4cb0798,
title = "The flying hand: A formation of UAVs for cooperative aerial tele-manipulation",
abstract = "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.",
author = "Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo",
year = "2014",
month = sep,
day = "22",
doi = "10.1109/ICRA.2014.6907490",
language = "English",
isbn = "978-1-4799-3685-4",
series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
pages = "4335--4341",
booktitle = "2014 IEEE International Conference on Robotics and Automation (ICRA)",
address = "United States",
note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014, ICRA ; Conference date: 31-05-2014 Through 07-06-2014",
}