基于三臂航空机械臂系统的无人机在移动地面上的自适应调平

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO) Pub Date : 2021-10-01 DOI:10.1109/AIRPHARO52252.2021.9571040

Hannibal Paul, Ryo Miyazaki, Takamasa Kominami, Robert Ladig, K. Shimonomura

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引用次数: 0

摘要

在灾难期间，机器人与环境的互动更有利于帮助和快速响应。无人驾驶飞行器(UAV)是可以在战场上部署的最快的机器人平台之一。然而，如果一架无人机降落在一个未知的地点，如果无人机框架不是水平的，它将无法起飞，这可能是由于地面的移动或不稳定的平台。在这项工作中，我们研究了无人机从倾斜平台起飞的挑战，并建议设计和使用三臂空中机械手系统，以自动保持无人机框架始终保持水平，以确保安全起飞。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Adaptively Leveling a UAV with Three-arm Aerial Manipulator System on Shifting Ground

Robot interaction with the environment is preferable to help and respond quickly during disasters. Unmanned aerial vehicles (UAV s) are among the quickest robotic platforms that can be deployed on the field. However, if a UAV lands on an unknown site, it will be unable to take-off if the UAV frame is not level, which might be due to shifting of the ground or unstable platforms. We examine the challenge of UAV takeoff from a sloped platform in this work, and we suggest the design and use of a three-arm aerial manipulator system to autonomously keep the UAV frame leveled at all times for safe take-off.

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2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)

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