Aerial grasping based on VR perception and haptic control

Yaqi Wu; Jin Song; Jiabi Sun; Fenfang Zhu; Haoyao Chen

doi:10.1109/RCAR.2018.8621786

Aerial grasping based on VR perception and haptic control

Yaqi Wu
, Jin Song
, Jiabi Sun
, Fenfang Zhu
, Haoyao Chen

Harbin Institute of Technology Shenzhen
State Key Laboratory of Robotics and Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Scopus citations

Abstract

Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.

Original language	English
Title of host publication	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	556-562
Number of pages	7
ISBN (Electronic)	9781538668689
DOIs	https://doi.org/10.1109/RCAR.2018.8621786
State	Published - 2 Jul 2018
Externally published	Yes
Event	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 - Kandima, Maldives Duration: 1 Aug 2018 → 5 Aug 2018

Publication series

Name	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Conference

Conference	2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018
Country/Territory	Maldives
City	Kandima
Period	1/08/18 → 5/08/18

Access to Document

10.1109/RCAR.2018.8621786

Cite this

Wu, Y., Song, J., Sun, J., Zhu, F., & Chen, H. (2018). Aerial grasping based on VR perception and haptic control. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 (pp. 556-562). Article 8621786 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAR.2018.8621786

@inproceedings{f0724373ec174a31ba22e42ace955bdb,

title = "Aerial grasping based on VR perception and haptic control",

abstract = "Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.",

author = "Yaqi Wu and Jin Song and Jiabi Sun and Fenfang Zhu and Haoyao Chen",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018 ; Conference date: 01-08-2018 Through 05-08-2018",

year = "2018",

month = jul,

day = "2",

doi = "10.1109/RCAR.2018.8621786",

language = "英语",

series = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "556--562",

booktitle = "2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018",

address = "美国",

}

Wu, Y, Song, J, Sun, J, Zhu, F & Chen, H 2018, Aerial grasping based on VR perception and haptic control. in 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018., 8621786, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Institute of Electrical and Electronics Engineers Inc., pp. 556-562, 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018, Kandima, Maldives, 1/08/18. https://doi.org/10.1109/RCAR.2018.8621786

Aerial grasping based on VR perception and haptic control. / Wu, Yaqi; Song, Jin; Sun, Jiabi et al.
2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 556-562 8621786 (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Aerial grasping based on VR perception and haptic control

AU - Wu, Yaqi

AU - Song, Jin

AU - Sun, Jiabi

AU - Zhu, Fenfang

AU - Chen, Haoyao

PY - 2018/7/2

Y1 - 2018/7/2

N2 - Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.

AB - Aerial manipulation tasks have received the spotlight in recent years and related research problems such as coupling, automatic control, tarjectory planning have plagued many researchers. This paper implements a aerial grasping task by using a hexrotor with a 3-DoF light-weight manipulator. A VR operating platform consisting of a UAV ground station and an aerial vehicle is build, and kinematic modeling and mapping algorithms related to the manipulater's grabbing task is conducted. Several grasping experiments have being carried out to illustrate the satisfactory performance. Overall, the results show the proposed framework has a wider range of application potentials such as inspection, manipulation or transportation in remote areas.

UR - https://www.scopus.com/pages/publications/85062528036

U2 - 10.1109/RCAR.2018.8621786

DO - 10.1109/RCAR.2018.8621786

M3 - 会议稿件

AN - SCOPUS:85062528036

T3 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

SP - 556

EP - 562

BT - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018

Y2 - 1 August 2018 through 5 August 2018

ER -

Wu Y, Song J, Sun J, Zhu F, Chen H. Aerial grasping based on VR perception and haptic control. In 2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 556-562. 8621786. (2018 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2018). doi: 10.1109/RCAR.2018.8621786

Aerial grasping based on VR perception and haptic control

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this