Collaborative Aerial Manipulation
Decentralized control for stable collaborative grasping by multiple aerial manipulators.
Decentralized control for stable collaborative grasping by multiple aerial manipulators.
Overview
Aerial manipulators can perform contact inspection, assembly, and other physical tasks in hard to reach locations, but each vehicle has limited payload capacity. This project enables multiple aerial manipulators to share a physical interaction task.
An inertially decoupled model and passivity based decentralized controller allow any number of aerial manipulators to collaborate without communicating with one another. The vehicles balance interaction forces while maintaining stable cooperative grasping.
Video
Publication
J. Jeong and M. J. Kim, “Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators,” IEEE ICRA, 2023. arXiv · IEEE