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 Published05/2018
Conference LocationBrisbane, Australia

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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