Towards a Flying Assistant Paradigm: The OTHex

Nicolas Staub; Davide Bicego; Quentin Sable; Victor Arellano; Subodh Mishra; Antonio Franchi

doi:10.1109/ICRA.2018.8460877

Towards a Flying Assistant Paradigm: The OTHex

Nicolas Staub
, Davide Bicego
, Quentin Sable
, Victor Arellano
, Subodh Mishra
, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

70 Citations (Scopus)

69 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	IEEE
Pages	6997-7002
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460877
Publication status	Published - 10 Sept 2018
Externally published	Yes
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 https://icra2018.org/

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated title	ICRA
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	https://icra2018.org/

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10.1109/ICRA.2018.8460877

Staub-2018-Towards-a-flying-assistant-paradigmSubmitted version, 3.08 MB

Cite this

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title = "Towards a Flying Assistant Paradigm: The OTHex",

abstract = "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.",

author = "Nicolas Staub and Davide Bicego and Quentin Sable and Victor Arellano and Subodh Mishra and Antonio Franchi",

year = "2018",

month = sep,

day = "10",

doi = "10.1109/ICRA.2018.8460877",

language = "English",

pages = "6997--7002",

booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",

publisher = "IEEE",

address = "United States",

note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018, ICRA ; Conference date: 21-05-2018 Through 25-05-2018",

url = "https://icra2018.org/",

}

Staub, N, Bicego, D, Sable, Q, Arellano, V, Mishra, S & Franchi, A 2018, Towards a Flying Assistant Paradigm: The OTHex. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460877, IEEE, pp. 6997-7002, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460877

TY - GEN

T1 - Towards a Flying Assistant Paradigm

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

AU - Staub, Nicolas

AU - Bicego, Davide

AU - Sable, Quentin

AU - Arellano, Victor

AU - Mishra, Subodh

AU - Franchi, Antonio

PY - 2018/9/10

Y1 - 2018/9/10

N2 - 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.

AB - 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.

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DO - 10.1109/ICRA.2018.8460877

M3 - Conference contribution

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BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - IEEE

Y2 - 21 May 2018 through 25 May 2018

ER -

Towards a Flying Assistant Paradigm: The OTHex

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