Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper



Authors:

M. Lieret, B. Kreis, C. Hofmann, M. Zwingel, J. Franke

Type:

Conference Proceeding

Published in:

Annals of Scientific Society for Assembly, Handling and Industrial Robotics

Year:

2022

DOI:

https://doi.org/10.1007/978-3-030-74032-0_8

Links:

Publication

BibTex String

@inproceedings{kreis2022mhi,
  title="Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper",
  author="Lieret, Markus and Kreis, Benedikt and Hofmann, Christian and Zwingel, Maximilian and Franke, J{\"o}rg",
  booktitle="Annals of Scientific Society for Assembly, Handling and Industrial Robotics 2021",
  doi={10.1007/978-3-030-74032-0_8},
  year="2022"
}
Topic

Abstract:

Due to the availability of highly efficient unmanned aircraft (UA) and the advancement ofthe necessary technologies, the use of UA for object manipulation and cargo transport isbecoming a more and more relevant research area. A reliable identification and localization of cargo and interaction objects as well as maintaining the required flight precisionare essential to guarantee a successful object handling. Within this paper we demonstratethe successful application of an autonomous UA equipped with a lightweight suctiongripper for object interaction. We discuss the approach used for precise localization aswell as the identification and pose estimation of individual gripping objects. Concluding,the overall system performance is evaluated within an industrial-oriented use case.