In this paper, an image based visual servo (IBVS) scheme is developed for a hexacopter, equipped with a robotic soft grasper to perform autonomous object detection and grasping. The structural design of the hexacopter-soft grasper system is analyzed to study the soft grasper’s influence on the multirotor’s aerodynamics. The object detection, tracking and trajectory planning are implemented on a high-level computer which sends position and velocity setpoints to the flight controller. A soft robotic grasper is mounted on the UAV to enable the collection of various contaminants. The use of soft robotics removes excess weight associated with traditional rigid graspers, as well as simplifies the controls of the grasping mechanics. Collected experimental results demonstrate autonomous object detection, tracking and grasping. This pipeline would enable the system to autonomously collect solid and liquid contaminants in water canal based on GPS and multi-camera system. It can also be used for more complex aerial manipulation including in-flight grasping.
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ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5191-3
PROCEEDINGS PAPER
Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping
Shatadal Mishra,
Shatadal Mishra
Arizona State University, Mesa, AZ
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Dangli Yang,
Dangli Yang
Arizona State University, Tempe, AZ
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Carly Thalman,
Carly Thalman
Arizona State University, Mesa, AZ
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Panagiotis Polygerinos,
Panagiotis Polygerinos
Arizona State University, Mesa, AZ
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Wenlong Zhang
Wenlong Zhang
Arizona State University, Mesa, AZ
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Shatadal Mishra
Arizona State University, Mesa, AZ
Dangli Yang
Arizona State University, Tempe, AZ
Carly Thalman
Arizona State University, Mesa, AZ
Panagiotis Polygerinos
Arizona State University, Mesa, AZ
Wenlong Zhang
Arizona State University, Mesa, AZ
Paper No:
DSCC2018-9107, V003T36A003; 9 pages
Published Online:
November 12, 2018
Citation
Mishra, S, Yang, D, Thalman, C, Polygerinos, P, & Zhang, W. "Design and Control of a Hexacopter With Soft Grasper for Autonomous Object Detection and Grasping." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T36A003. ASME. https://doi.org/10.1115/DSCC2018-9107
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