IEEE Robotics & Automation Magazine - December 2018 - 13
Open-Air Operation
Aerial manipulation involves aerial robots equipped with
arms (see Figure 1) or other end effectors performing tasks
such as assembly or contact inspection in locations that are
extremely dangerous or either inaccessible or quite costly to
access from the ground. It involves exceedingly challenging
problems, mainly because of aerodynamic influences and
fast dynamics compared to other floating-base manipula-
tion systems.
With very few exceptions, research in aerial robotic
manipulation, such as grasping objects from the air with a
helicopter [1], has been performed indoors. These indoor
works include picking and basic manipulation with quadro-
tors as well as cooperative assembly with several aerial robots
[2]. In [3], a quadrotor with a small arm maintaining contact
with a surface was reported. Indoor redundant manipulators
were studied in [4]. In [5], an indoor flying robot capable of
depositing polyurethane foam was presented. Later on, new
indoor aerial manipulators were created and demonstrated
for applications such as drawer opening [6]. Compliance was
studied in [7]. The transportation of bars with two quadrotors
was presented in [8].
More recently, new aerial grasping [9] and aerial systems
interacting with the environment more generally have
been presented [10]. All these systems were operated
indoors. In the Aerial Ro-
bots Cooperative Assembly
System, or ARCAS, proj-
With very few exceptions,
ect (http://www.arcas-
project.eu/), indoor and
research in aerial robotic
outdoor aerial manipula-
tor prototypes using heli-
manipulation has been
copters (equipped with
the the German Aero-
performed indoors.
space Center's KUKA
lightweight robot arm)
and multirotor systems
(equipped with light arms) were displayed, including fully
autonomous visual servoing. The projects pursued by AERO-
WORKS (http://www.aeroworks2020.eu/) have included
(a)
(b)
(c)
(d)
Figure 1. Four AEROARMS platforms: (a) a multidirectional-thrust hexarotor with a rigidly attached end effector; (b) a multidirectionalthrust octorotor with an inspection arm; (c) an aerial dual-arm manipulator with stiff joints; and (d) an aerial dual-arm manipulator
with compliant joints.
december 2018
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
13
https://inspection-robotics.com/arcas/
https://inspection-robotics.com/arcas/
http://www.aeroworks2020.eu/
IEEE Robotics & Automation Magazine - December 2018
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2018
Contents
IEEE Robotics & Automation Magazine - December 2018 - Cover1
IEEE Robotics & Automation Magazine - December 2018 - Cover2
IEEE Robotics & Automation Magazine - December 2018 - Contents
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