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  Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot

Masone, C., Bülthoff, H., & Stegagno, P. (2016). Cooperative transportation of a payload using quadrotors: A reconfigurable cable-driven parallel robot. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016) (pp. 1623-1630). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7A62-9 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-7A63-8
Genre: Conference Paper

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 Creators:
Masone, C1, Author              
Bülthoff, HH1, 2, 3, Author              
Stegagno, P1, 3, 4, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
4Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              

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 Abstract: This paper addresses the problem of cooperative aerial transportation of an object using a team of quadrotors. The approach presented to solve this problem accounts for the full dynamics of the system and it is inspired by the literature on reconfigurable cable-driven parallel robots (RCDPR). Using the modelling convention of RCDPR it is derived a direct relation between the motion of the quadrotors and the motion of the payload. This relation makes explicit the available internal motion of the system, which can be used to automatically achieve additional tasks. The proposed method does not require to specify a priory the forces in the cables and uses a tension distribution algorithm to optimally distribute them among the robots. The presented framework is also suitable for online teleoperation. Physical simulations with a human-in-the-loop validate the proposed approach.

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 Dates: 2016-10
 Publication Status: Published in print
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2016.7759262
BibTex Citekey: MasoneBS2016
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Event: Daejeon, Korea
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1623 - 1630 Identifier: ISBN: 978-1-5090-3762-9