Cooperative manipulation and transportation with aerial robots
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. Download: Bibtex: @INPROCEEDINGS{ Michael-RSS-09, AUTHOR = {N. Michael AND J. Fink AND V. Kumar}, TITLE = {Cooperative manipulation and transportation with aerial robots}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2009}, ADDRESS = {Seattle, USA}, MONTH = {June}, DOI = {10.15607/RSS.2009.V.001} }