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  Aerial Grasping of a Moving Target with a Quadrotor UAV

Spica, R., Franchi, A., Oriolo, G., Bülthoff, H., & Robuffo Giordano, P. (2012). Aerial Grasping of a Moving Target with a Quadrotor UAV. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4985-4992). Piscataway, NJ, USA: IEEE.

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Datensatz-Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B5B8-2 Versions-Permalink: https://hdl.handle.net/21.11116/0000-0001-8B02-0
Genre: Konferenzbeitrag

Externe Referenzen

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externe Referenz:
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6385771 (Verlagsversion)
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 Urheber:
Spica, R1, 2, Autor           
Franchi, A1, 2, Autor           
Oriolo, G, Autor
Bülthoff, HH1, 2, Autor           
Robuffo Giordano, P1, 2, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

Inhalt

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Schlagwörter: -
 Zusammenfassung: Abstract—For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time. To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time. The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. The effectiveness of the proposed approach is shown by means of physically-based simulations.

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Sprache(n):
 Datum: 2012-10
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/IROS.2012.6385771
BibTex Citekey: SpicaFOBR2012
 Art des Abschluß: -

Veranstaltung

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Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Veranstaltungsort: Vilamoura, Portugal
Start-/Enddatum: 2012-10-07 - 2012-10-12

Entscheidung

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Projektinformation

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Quelle 1

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Titel: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 4985 - 4992 Identifikator: ISBN: 978-1-4673-1737-5