Cooperative manipulation and transportation with aerial robots
Noah-Manuel Michael, Jonathan Fink, Vijay Kumar · 2009
In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables.We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations.We demonstrate our methods on a team of aerial robots via simulation and experimentation.