An Anthropomorphic Aerial Manipulator equipped with a Testbed for Indoor Experiments
Fanyi Kong, Simone Monteleone, Grioli, Giorgio, Manuel G. Catalano, Antonio Bicchi · Zenodo (CERN European Organization for Nuclear Research) · 2022
During interventions in hazardous environments, debris often restricts the accessibility of ground robots. When this occurs, Unmanned Aerial Manipulators (UAMs) can intervene, avoiding all of these obstacles. However, when UAMs enter and interact with such environments, designers must ensure that they possess high stability and robustness. This work presents a teleoperated aerial manipulator for intervention in unstructured environments and a testbed to perform safely indoor experiments for evaluating the stability performance and manipulation tasks. The robot comprises an aerial platform, two arms that terminate with two Pisa/IIT Softhands, and a head equipped with stereo cameras. The testbed constrains the drone to move in a limited space and avoids that, in case of control loss, the drone falls or rambles in an indoor space, which may cause damage to the robot or humans.