Towards a Flying Assistant Paradigm: the OTHex

TitleTowards a Flying Assistant Paradigm: the OTHex
Publication TypeConference Paper
Year of Publication2018
AuthorsStaub, N, Bicego, D, Sablé, Q, Arellano-Quintana, V, Mishra, S, Franchi, A
Conference Name2018 IEEE Int. Conf. on Robotics and Automation
Date PublishedMay
Conference LocationBrisbane, Australia
Abstract

This paper presents the OTHex platform for aerial manipulation developed at LAAS–CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.

Citation Key2018g-BicStaSabAreMisFra
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