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  The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Goioso, G., Franchi, A., Salvietti, G., Scheggi, S., & Prattichizzo, C. (2014). The flying hand: A formation of UAVs for cooperative aerial tele-manipulation. In IEEE International Conference on Robotics and Automation (ICRA 2014) (pp. 4335-4341). Piscataway, NJ, USA: IEEE.

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 Creators:
Goioso, Guido1, Author              
Franchi, A, Author              
Salvietti, G, Author
Scheggi, S, Author
Prattichizzo, C, Author
Affiliations:
1Department of Information Engineering and Mathematical Sciences, University of Siena, ou_persistent22              

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 Abstract: The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.

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 Dates: 2014-06
 Publication Status: Published in print
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 Rev. Type: -
 Identifiers: DOI: 10.1109/ICRA.2014.6907490
BibTex Citekey: GioiosoFSSP2014
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Title: IEEE International Conference on Robotics and Automation (ICRA 2014)
Place of Event: Hong Kong, China
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Title: IEEE International Conference on Robotics and Automation (ICRA 2014)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4335 - 4341 Identifier: ISBN: 978-1-4799-3684-7