@conference {2014a-GioFraSalSchPra, title = {The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation}, booktitle = {2014 IEEE Int. Conf. on Robotics and Automation}, year = {2014}, month = {05/2014}, pages = {4335-4341}, address = {Hong Kong, China}, abstract = {The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.}, keywords = {Aerial Physical Interaction, Aerial Robotics, Bilateral Shared Control of Mobile Robots, Motion control of multiple robots}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014a-GioFraSalSchPra.mp4}, author = {Guido Gioioso and Antonio Franchi and Gionata Salvietti and Stefano Scheggi and Domenico Prattichizzo} }