Cooperative manipulation and transportation with aerial robots

被引：0
|
作者：
Nathan Michael
Jonathan Fink
Vijay Kumar
机构：
[1] University of Pennsylvania,
来源：
Autonomous Robots | 2011年 / 30卷
关键词：
Aerial robotics; Cooperative manipulation; Multi-robot control; Parallel manipulators;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.
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收藏
页码：73 / 86
页数：13
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