DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sarkisov, Yuri S. | ko |
dc.contributor.author | Kim, Min Jun | ko |
dc.contributor.author | Bicego, Davide | ko |
dc.contributor.author | Tsetserukou, Dzmitry | ko |
dc.contributor.author | Ott, Christian | ko |
dc.contributor.author | Franchi, Antonio | ko |
dc.contributor.author | Kondak, Konstantin | ko |
dc.date.accessioned | 2020-11-30T12:30:16Z | - |
dc.date.available | 2020-11-30T12:30:16Z | - |
dc.date.created | 2020-11-24 | - |
dc.date.issued | 2019-05-23 | - |
dc.identifier.citation | 2019 International Conference on Robotics and Automation, ICRA 2019, pp.5323 - 5329 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10203/277786 | - |
dc.description.abstract | High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Development of SAM: Cable-suspended aerial manipulator | - |
dc.type | Conference | - |
dc.identifier.wosid | 000494942303125 | - |
dc.identifier.scopusid | 2-s2.0-85068687257 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 5323 | - |
dc.citation.endingpage | 5329 | - |
dc.citation.publicationname | 2019 International Conference on Robotics and Automation, ICRA 2019 | - |
dc.identifier.conferencecountry | CN | - |
dc.identifier.conferencelocation | Palais des Congres de Montreal | - |
dc.identifier.doi | 10.1109/ICRA.2019.8793592 | - |
dc.contributor.localauthor | Kim, Min Jun | - |
dc.contributor.nonIdAuthor | Sarkisov, Yuri S. | - |
dc.contributor.nonIdAuthor | Bicego, Davide | - |
dc.contributor.nonIdAuthor | Tsetserukou, Dzmitry | - |
dc.contributor.nonIdAuthor | Ott, Christian | - |
dc.contributor.nonIdAuthor | Franchi, Antonio | - |
dc.contributor.nonIdAuthor | Kondak, Konstantin | - |
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