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Hybrid visual servoing with hierarchical task composition for aerial manipulation

Autor
Lippiello, V.; Cacace, J.; Santamaria, A.; Andrade-Cetto, J.; Trujillo, M.; Rodrigez, Y.; Viguria, A.
Tipus d'activitat
Article en revista
Revista
IEEE robotics and automation letters
Data de publicació
2016
Volum
1
Número
1
Pàgina inicial
259
Pàgina final
266
DOI
https://doi.org/10.1109/LRA.2015.2510749 Obrir en finestra nova
Projecte finançador
AEROARMS: AErial RObotics System integrating multiple ARMS and advanced manipulation capabilities for inspection and maintenance - H2020-ICT-2014-1-644271
ARCAS: Aerial Robotics Cooperative Assembly System
URL
http://ieeexplore.ieee.org.recursos.biblioteca.upc.edu/document/7361979/ Obrir en finestra nova
Resum
In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth ...
Paraules clau
aerospace robotics, cascade control, hierarchical control, manipulators, mobile robots, robot dynamics, robot kinematics, robot vision
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

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