Autonomous Grasping Robotic Aerial System for Perching (AGRASP)
This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching (AGRASP)represents a novel integration of robotics perception, vision-based path planning, and biomimetically-inspired manipulation on a small, lightweight ae...
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Published in | 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 1 - 9 |
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Main Authors | , , , , , , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.10.2018
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Abstract | This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching (AGRASP)represents a novel integration of robotics perception, vision-based path planning, and biomimetically-inspired manipulation on a small, lightweight aerial robot with highly-constrained sensor and processing capacity. Computationally lightweight perception algorithms pull candidate perch structures out of a complex environment with no a priori knowledge of the operational space. The innovative manipulator design combines both active grasp and passive grip enabling it to maintain hold on the perch even with all power off. We experimentally demonstrate, for the first time, a quadrotor autonomously detecting and landing on a perch relying solely on onboard sensing and processing. |
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AbstractList | This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching (AGRASP)represents a novel integration of robotics perception, vision-based path planning, and biomimetically-inspired manipulation on a small, lightweight aerial robot with highly-constrained sensor and processing capacity. Computationally lightweight perception algorithms pull candidate perch structures out of a complex environment with no a priori knowledge of the operational space. The innovative manipulator design combines both active grasp and passive grip enabling it to maintain hold on the perch even with all power off. We experimentally demonstrate, for the first time, a quadrotor autonomously detecting and landing on a perch relying solely on onboard sensing and processing. |
Author | Bamberger, Robert J. Johannes, Matthew S. Wolfe, Kevin C. Katyal, Kapil D. Popek, Katie M. Yeh, Bryanna Y. Hatch, Jessica M. Moore, Joseph L. Hegeman, Rachel A. |
Author_xml | – sequence: 1 givenname: Katie M. surname: Popek fullname: Popek, Katie M. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 2 givenname: Matthew S. surname: Johannes fullname: Johannes, Matthew S. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 3 givenname: Kevin C. surname: Wolfe fullname: Wolfe, Kevin C. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 4 givenname: Rachel A. surname: Hegeman fullname: Hegeman, Rachel A. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 5 givenname: Jessica M. surname: Hatch fullname: Hatch, Jessica M. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 6 givenname: Joseph L. surname: Moore fullname: Moore, Joseph L. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 7 givenname: Kapil D. surname: Katyal fullname: Katyal, Kapil D. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 8 givenname: Bryanna Y. surname: Yeh fullname: Yeh, Bryanna Y. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA – sequence: 9 givenname: Robert J. surname: Bamberger fullname: Bamberger, Robert J. organization: The Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA |
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Snippet | This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching... |
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SubjectTerms | Bars Grasping Manipulators Robot sensing systems Tendons Three-dimensional displays |
Title | Autonomous Grasping Robotic Aerial System for Perching (AGRASP) |
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