Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripperhttps://www.hrl.uni-bonn.de/api/people/kreis/aerial-grasping-and-transport-using-an-unmanned-aircraft-ua-equipped-with-an-industrial-suction-gripperhttps://www.hrl.uni-bonn.de/api/++resource++plone-logo.svg
Aerial Grasping and Transport Using an Unmanned Aircraft (UA) Equipped with an Industrial Suction Gripper
Publication Authors
M. Lieret;
B. Kreis;
C. Hofmann;
M. Zwingel;
J. Franke
Published in
Annals of Scientific Society for Assembly, Handling and Industrial Robotics
Year of Publication
2022
Abstract
Due to the availability of highly efficient unmanned aircraft (UA) and the advancement of
the necessary technologies, the use of UA for object manipulation and cargo transport is
becoming a more and more relevant research area. A reliable identification and localization of cargo and interaction objects as well as maintaining the required flight precision
are essential to guarantee a successful object handling. Within this paper we demonstrate
the successful application of an autonomous UA equipped with a lightweight suction
gripper for object interaction. We discuss the approach used for precise localization as
well as the identification and pose estimation of individual gripping objects. Concluding,
the overall system performance is evaluated within an industrial-oriented use case.
