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Towards a Flying Assistant Paradigm: the OTHex

Abstract : This paper presents the OTHex platform for aerial manipulation developed at LAAS–CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.
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https://hal.laas.fr/hal-01716845
Contributor : Antonio Franchi <>
Submitted on : Saturday, February 24, 2018 - 6:49:55 PM
Last modification on : Friday, January 10, 2020 - 9:10:15 PM
Long-term archiving on: : Friday, May 25, 2018 - 11:01:58 PM

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  • HAL Id : hal-01716845, version 1

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Nicolas Staub, Davide Bicego, Quentin Sablé, Victor Arellano-Quintana, Subodh Mishra, et al.. Towards a Flying Assistant Paradigm: the OTHex. IEEE 2018 International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia. ⟨hal-01716845⟩

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