This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.
|Title of host publication||2018 IEEE International Conference on Robotics and Automation, ICRA 2018|
|Number of pages||6|
|Publication status||Published - 10 Sep 2018|
|Event||2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia|
Duration: 21 May 2018 → 25 May 2018
|Conference||2018 IEEE International Conference on Robotics and Automation, ICRA 2018|
|Period||21/05/18 → 25/05/18|