Towards a Flying Assistant Paradigm: the OTHex

Nicolas Staub 1 Davide Bicego 1 Quentin Sablé 1 Victor Arellano-Quintana 1 Subodh Mishra 1 Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
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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Submitted on : Saturday, February 24, 2018 - 6:49:55 PM
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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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