DMCA
Cooperative Manipulation and Transportation with Aerial Robots
by
Nathan Michael
,
Jonathan Fink
,
Vijay Kumar
| Citations: | 69 - 10 self |
BibTeX
@MISC{Michael_cooperativemanipulation,
author = {Nathan Michael and Jonathan Fink and Vijay Kumar},
title = {Cooperative Manipulation and Transportation with Aerial Robots},
year = {}
}
Share
 |
 |
 |
 |
||
OpenURL
Abstract
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. I.
