2A2-H01 Development of Landing Gear for Aerial Vehicles : Grasping Motion of Reduced DOF Gripper
Takahiro M. Doi, Yasunobu KATAYAMA, Hiroyuki KUROIWA, Kenjiro Tadakuma · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2015
Helicopters are used widely for rescue tasks. Because they do not need dedicated landing field and can scramble quickly. And they can hover in the air and conduct various tasks. However, in order to control hovering, much fuel and skilled control techniques are needed. As solutions for this, mechanical systems that adapt to the sloped or bumpy terrain like mountain or disaster area are developed. In this presentation, a developed system - quad rotor helicopter and three finger gripper that has one DOF for each finger - is introduced. The experimental results of flying ability, performance of the gripper and automatic landing motion using vision based control are shown.