The paper presents a haptic-based bilateral teleoperation strategy for an aerial manipulator to extract a wedged object from a static structure, compensating for the limitations of human reaction time.
The key highlights are:
A haptic device with a 4-degree-of-freedom robotic arm and a gripper is fabricated to emulate the movement of the aerial manipulator during the wedged object extraction task.
The teleoperation strategy is divided into two phases:
An algorithm is developed to detect the extraction of the wedged object by monitoring the change in the external force exerted on the aerial manipulator.
Reference trajectory generation methods are designed for the aerial manipulator and the haptic device during the recovery flight phase to ensure a smooth transition and fast recovery to the initial position.
Comparative plug-pulling experiments are conducted with a quadrotor-based aerial manipulator, validating that the proposed teleoperation strategy reduces the overshoot in the aerial manipulator's position and ensures faster recovery after the object extraction compared to the baseline method.
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by Jeonghyun By... às arxiv.org 05-03-2024
https://arxiv.org/pdf/2405.01361.pdfPerguntas Mais Profundas