Toward autonomous avian-inspired grasping for micro aerial vehicles

Bioinspiration and Biomimetics

Volumn 9, Issue 2, 2014, Pages

  Thomas, Justin ^a   Loianno, Giuseppe ^a   Polin, Joseph ^a   Sreenath, Koushil ^b   Kumar, Vijay ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

aerial manipulation; dynamic grasping; image based visual servoing (IBVS); MAVs; quadrotor

Indexed keywords

ALGORITHMS; GRIPPERS; MICRO AIR VEHICLE (MAV); ROBOT APPLICATIONS; SENSORS; UNITS OF MEASUREMENT; VISUAL SERVOING;

GUARANTEED CONVERGENCE; IMAGE BASED VISUAL SERVOING; INERTIAL MEASUREMENT UNIT; MAVS; MICRO AERIAL VEHICLE; MOTION CAPTURE SYSTEM; QUAD ROTORS; VISION-BASED CONTROLLERS;

AIRCRAFT;

AIRCRAFT; ANIMAL; BIOLOGICAL MODEL; BIOMIMETICS; BIRD; COMPUTER AIDED DESIGN; COMPUTER SIMULATION; DEVICE FAILURE ANALYSIS; DEVICES; ELECTRONICS; EQUIPMENT DESIGN; FEEDBACK SYSTEM; FLYING; FORELIMB; HAND STRENGTH; PHYSIOLOGY; ROBOTICS;

AIRCRAFT; ANIMALS; BIOMIMETICS; BIRDS; COMPUTER SIMULATION; COMPUTER-AIDED DESIGN; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; FEEDBACK, PHYSIOLOGICAL; FLIGHT, ANIMAL; HAND STRENGTH; MINIATURIZATION; MODELS, BIOLOGICAL; ROBOTICS; WING;

EID: 84901473755     PISSN: 17483182     EISSN: 17483190     Source Type: Journal    
DOI: 10.1088/1748-3182/9/2/025010     Document Type: Article

References (42)

1. Thomas J, Polin J, Sreenath K and Kumar V 2013 Avian-inspired grasping for quadrotor micro UAVs IDETC/CIE 2013: Proc. 37th Mechanisms and Robotics Conf. (Portland, OR)
2. Thomas J, Loianno G, Sreenath K and Kumar V 2014 Toward image based visual servoing for aerial grasping and perching
3. Mellinger D, Shomin M and Kumar V 2010 Control of quadrotors for robust perching and landing (Philadelphia, PA)
4. Lindsey Q, Mellinger D and Kumar V 2011 Construction of cubic structures with quadrotor teams (Los Angeles, CA)
5. Sreenath K, Lee T and Kumar V 2013 Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load Proc. 52nd IEEE Conf. on Decision and Control. 2269-74 (Firenze, Dec. 2013)
6. Mellinger D, Shomin M, Michael N and Kumar V 2010 Cooperative grasping and transport using multiple quadrotors Int. Symp. on Distributed Autonomous Robotic Systems
7. Sreenath K and Kumar V 2013 Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots Proc. Conf. Robotics: Science and Systems (Berlin, Germany)
8. Powers C, Mellinger D, Kushleyev A, Kothmann B and Kumar V 2012 Influence of aerodynamics and proximity effects in quadrotor flight Proc. Int. Symp. on Experimental Robotics
9. Dollar A M and Howe R D 2010 The highly adaptive SDM hand: design and performance evaluation Int. J. Robot. Res. 29 585-97
10. Doyle C E, Bird J J, Isom T A, Johnson C J, Kallman J C, Simpson J A, King R J, Abbott J J and Minor M A 2011 Avian-inspired passive perching mechanism for robotic rotorcraft Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (2011) 4975-80
11. Mellinger D, Lindsey Q, Shomin M and Kumar V 2011 Design, modeling, estimation and control for aerial grasping and manipulation Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (2011) 2668-73
12. Lussier Desbiens A and Cutkosky M R 2009 Landing and perching on vertical surfaces with microspines for small unmanned air vehicles J. Intell. Robot. Syst. 57 313-27
13. Lussier Desbiens A, Asbeck A T and Cutkosky M R 2011 Landing, perching and taking off from vertical surfaces Int. J. Robot. Res. 30 355-70
14. Moore J and Tedrake R 2012 Control synthesis and verification for a perching UAV using LQR-Trees Proc. 51st IEEE Conf. on Decision and Control (CDC) (2012) 3707-14
15. The Slow Mo Guys 2011 Red Kites in Slow Motionhttp://youtu.be/AYOx-iCMZhk
16. Bass K, Leith B, Anderson J, Bassett P, Stevens J, Pearson H and Turner J 2009 Natures Most Amazing Events [DVD] (BBC Worldwide Ltd.)
17. Mourikis A I, Roumeliotis S I and Burdick J W 2007 SC-KF mobile robot localization: a stochastic cloning Kalman filter for processing relative-state measurements IEEE Trans. Robot. 23 717-30 (Pubitemid 47315472)
18. Weiss S, Scaramuzza D and Siegwart R 2011 Monocular-SLAM-based navigation for autonomous micro helicopters in GPS-denied environments J. Field Robot. 28 854-74
19. Hutchinson S, Hager G D and Corke P I 1996 A tutorial on visual servo control IEEE Trans. Robot. Autom. 12 651-70 (Pubitemid 126786243)
20. Espiau B, Chaumette F and Rives P 1992 A new approach to visual servoing in robotics IEEE Trans. Robot. Autom. 8 313-26
21. Chaumette F and Hutchinson S 2006 Visual servo control. I. Basic approaches IEEE Robot. Autom. Mag. 13 82-90 (Pubitemid 46454544)
22. Chaumette F and Hutchinson S 2007 Visual servo control. II. Advanced approaches [Tutorial] IEEE Robot. Autom. Mag. 14 109-18 (Pubitemid 46566624)
23. Taylor C J and Ostrowski J P 2000 Robust vision-based pose control ICRA 2000: Proc. IEEE Int. Conf. on Robotics and Automation 2734-40 vol 3
24. Cowan N J, Weingarten J D and Koditschek D E 2002 Visual servoing via navigation functions IEEE Trans. Robot. Autom. 18 521-33 (Pubitemid 35372516)
25. Hamel T and Mahony R 2002 Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach IEEE Trans. Robot. Autom. 18 187-98 (Pubitemid 34659022)
26. Hamel T and Mahony R 2007 Image based visual servo control for a class of aerial robotic systems Automatica 43 1975-83 (Pubitemid 47577517)
27. Lee D, Ryan T and Kim H J 2012 Autonomous landing of a VTOL UAV on a moving platform using image-based visual servoing IEEE Int. Conf. on Robotics and Automation (2012) 971-6
28. Ascending Technologies GmbH http://www.asctec.de
29. Lee T, Leoky M and McClamroch N H 2010 Geometric tracking control of a quadrotor UAV on SE(3) Proc. 49th IEEE Conf. on Decision and control (CDC) 5420-5
30. Sreenath K, Michael N and Kumar V 2013 Trajectory generation and control of a quadrotor with a cable-suspended load - a differentially-flat hybrid system Proc. IEEE Int. Conf. on Robotics and Automation
31. Ma Y, Soatto S, Kosecka J and Sastry S S 2004 An Invitation to 3D Vision: From Images to Geometric Models (Interdisciplinary Applied Mathematics) (New York: Springer)
32. Jabbari H, Oriolo G and Bolandi H 2012 Dynamic IBVS control of an underactuated UAV ROBIO 2012: IEEE Int. Conf. on Robotics and Biomimetics 1158-63
33. Zhang H and Ostrowski J P 1999 Visual servoing with dynamics: control of an unmanned blimp IEEE Int. Conf. on Robotics and Automation 618-23 vol 1
34. Murray R M, Rathinam M and Sluis W 1995 Differential flatness of mechanical control systems: a catalog of prototype systems ASME Int. Congress and Exposition
35. Mellinger D and Kumar V 2011 Minimum snap trajectory generation and control for quadrotors IEEE Int. Conf. on Robotics and Automation (2011) 2520-5
36. Mellinger D, Michael N and Kumar V 2010 Trajectory generation and control for precise aggressive maneuvers with quadrotors Int. Symp. on Experimental Robotics
37. Vicon Motion Systems, Inc http://www.vicon.com
38. Dollar A M and Howe R D 2011 Joint coupling design of underactuated hands for unstructured environments Int. J. Robot. Res. 30 1157-69
39. Gumstix, Inc http://www.gumstix.com
40. Comport A I, Marchand E, Pressigout M and Chaumette F 2006 Real-time markerless tracking for augmented reality: the virtual visual servoing framework IEEE Trans. Vis. Comput. Graphics 12 615-28 (Pubitemid 43824572)
41. Michael N, Mellinger D, Lindsey Q and Kumar V 2010 The GRASP multiple micro-UAV testbed IEEE Robot. Autom. Mag. 17 56-65
42. Shiokata D, Namiki A and Ishikawa M 2005 Robot dribbling using a high-speed multifingered hand and a high-speed vision system 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems 2097-102 (Pubitemid 43896911)