Aerial Grasping Based on VR Perception and Haptic Control
Yaqi Wu, Jin Woo Song, Jiabi Sun, Fenfang Zhu, Haoyao Chen · 2018
Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.