A Flying Gripper Based on Cuboid Modular Robots
- 1 May 2018
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 7024-7030
- https://doi.org/10.1109/icra.2018.8460682
Abstract
We present a novel flying modular platform capable of grasping and transporting objects. It is composed of four cooperative identical modules where each is based on a quadrotor within a cuboid frame with a docking mechanism. Pairs of modules are able to fly independently and physically connect by matching their vertical edges forming a hinge. Four one degree of freedom (DOF) connections results in a one DOF four-bar linkage that can be used to grasp external objects. In this paper, we propose a decentralized method that allows the Flying Gripper to control its position, attitude and aperture angle. In our experiments, we tested the hovering performance for different aperture angles and with a grasped object. The performance for a closing and opening motion was also verified.Keywords
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