Robotics: Science and Systems V

Cooperative manipulation and transportation with aerial robots

N. Michael, J. Fink and V. Kumar


In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.



    AUTHOR    = {N. Michael AND J. Fink AND V. Kumar},
    TITLE     = {Cooperative manipulation and transportation with aerial robots},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems},
    YEAR      = {2009},
    ADDRESS   = {Seattle, USA},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2009.V.001}