Cooperative manipulation and transportation with aerial robots

Authors:
Nathan Michael;Jonathan Fink;Vijay Kumar
Affiliations:
University of Pennsylvania, Philadelphia, USA;University of Pennsylvania, Philadelphia, USA;University of Pennsylvania, Philadelphia, USA
Venue:
Autonomous Robots
Year:
2011

Citing 1
Cited 8

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Geometric Fundamentals of Robotics (Monographs in Computer Science)

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Computers in Industry

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Abstract

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.