The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.

Gioioso, G., Franchi, A., Salvietti, G., Scheggi, S., & Prattichizzo, D. (2014). The flying hand: A formation of UAVs for cooperative aerial tele-manipulation. In Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp.4335-4341). New York : IEEE [10.1109/ICRA.2014.6907490].

The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

Gioioso, Guido;Salvietti, Gionata;Scheggi, Stefano;Prattichizzo, Domenico
2014

Abstract

The flying hand is a robotic hand consisting of a swarm of UAVs able to grasp an object where each UAV contributes to the grasping task with a single contact point at the tooltip. The swarm of robots is teleoperated by a human hand whose fingertip motions are tracked, e.g., using an RGB-D camera. We solve the kinematic dissimilarity of this unique master-slave system using a multi-layered approach that includes: a hand interpreter that translates the fingertip motion in a desired motion for the object to be manipulated; a mapping algorithm that transforms the desired object motions into a suitable set of virtual points deviating from the planned contact points; a compliant force control for the case of quadrotor UAVs that allows to use them as indirect 3D force effectors. Visual feedback is also used as sensory substitution technique to provide a hint on the internal forces exerted on the object. We validate the approach with several human-in-the-loop simulations including the full physical model of the object, contact points and UAVs.
978-1-4799-3685-4
Gioioso, G., Franchi, A., Salvietti, G., Scheggi, S., & Prattichizzo, D. (2014). The flying hand: A formation of UAVs for cooperative aerial tele-manipulation. In Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA) (pp.4335-4341). New York : IEEE [10.1109/ICRA.2014.6907490].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11365/954043