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  Aerial Grasping of a Moving Target with a Quadrotor UAV

Spica, R., Franchi, A., Oriolo G, Bülthoff, H., & Robuffo Giordano, P. (2012). Aerial Grasping of a Moving Target with a Quadrotor UAV. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012) (pp. 4985-4992). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B5B8-2 Version Permalink: https://hdl.handle.net/11858/00-001M-0000-0013-B5B9-F
Genre: Conference Paper

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 Creators:
Spica, R1, Author           
Franchi, A1, Author           
Oriolo G, Bülthoff, HH1, Author           
Robuffo Giordano, P1, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: Abstract—For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time. To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time. The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. The effectiveness of the proposed approach is shown by means of physically-based simulations.

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 Dates: 2012-10
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-1-4673-1737-5
URI: http://www.iros2012.org/site/
DOI: 10.1109/IROS.2012.6385771
BibTex Citekey: SpicaFOBR2012
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Place of Event: Vilamoura, Portugal
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4985 - 4992 Identifier: -