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首页> 外文期刊>Bioinspiration & biomimetics >Toward autonomous avian-inspired grasping for micro aerial vehicles*
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Toward autonomous avian-inspired grasping for micro aerial vehicles*

机译：迈向自主驾驶的微型航空器抓鸟*

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摘要

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches.
机译：微型飞行器，特别是四旋翼飞行器已被广泛应用。然而，关于空中操纵和抓地的文献有限，并且该工作是基于准静态模型的。在本文中，我们从敏捷，快速移动的鸟类（例如猛禽）中汲取了灵感，这些鸟类能够捕获地面或水中移动的猎物，并为四旋翼飞行器开发类似的功能。我们致力于动态抓取，这是一种全面抓取的方法，其中机器人及其抓手的动力学非常重要，必须对其进行建模和控制才能成功执行。动态抓取与快速的拾取和放置操作，对象的运输和交付以及放置或检索传感器有关。我们展示了如何（a）使用运动捕捉系统以及（b）无需外部传感器仅依靠板载传感器来实现此功能。在这两种情况下，我们都描述了动态模型以及轨迹规划和控制算法。特别是，我们提出了一种使用单眼相机和空中机器人机载惯性测量单元的反馈来飞行和抓握圆柱形物体的方法。这是通过将四旋翼的动力学映射到一个水平的虚拟图像平面来实现的，该平面又可以对图像空间中的图像特征进行动态可行的轨迹规划，以及具有保证收敛性的基于视觉的控制器。我们还介绍了配备有铰接式夹具的四旋翼获得的实验结果，以说明这两种方法。

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