Aerial manipulation has direct application prospects in environment, construction, forestry, agriculture, search, and rescue. It can be used to pick and place objects and hence can be used for transportation of goods. Aerial manipulation can be used to perform operations in environments inaccessible or unsafe for human workers. This paper is a survey of recent research in aerial manipulation. The aerial manipulation research has diverse aspects, which include the designing of aerial manipulation platforms, manipulators, grippers, the control of aerial platform and manipulators, the interaction of aerial manipulator with the environment, through forces and torque. In particular, the review paper presents the survey of the airborne platforms that can be used for aerial manipulation including the new aerial platforms with aerial manipulation capability. We also classified the aerial grippers and aerial manipulators based on their designs and characteristics. The recent contributions regarding the control of the aerial manipulator platform is also discussed. The environment interaction of aerial manipulators is also surveyed which includes, different strategies used for end-effectors interaction with the environment, application of force, application of torque and visual servoing. A recent and growing interest of researchers about the multi-UAV collaborative aerial manipulation was also noticed and hence different strategies for collaborative aerial manipulation are also surveyed, discussed and critically analyzed. Some key challenges regarding outdoor aerial manipulation and energy constraints in aerial manipulation are also discussed.

/pdf/a-survey-of-single-and-multi-uav-aerial-manipulation-7rt11s1367.pdf

A survey of single and multi-UAV aerial manipulation

The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

Survey on Aerial Manipulator: System, Modeling, and Control

Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force

We herein propose a long-reach aerial manipulator to allow the manipulation of objects several meters away from an unmanned aerial vehicle (UAV). The system consists of a multirotor platform with winch mechanism and wire-suspended gripper module equipped with a camera and swing-suppression device. The winch controls the distance of the wire-suspended device from the UAV. To stabilize the device suspended from the UAV by two wires, we developed a swing-suppression device using an IMU and ducted fans. Through experiments, we verified effectiveness of the swing-suppression system; that is, it successfully stabilized the wire-suspended device within a distance of 3.5 m from the UAV. Furthermore, we performed a pick-and-place task using a gripper that was lowered from the UAV by 3 m.

Long-Reach Aerial Manipulation Employing Wire-Suspended Hand With Swing-Suppression Device

The emergence of new robotic technologies such as compliant control and soft robotics, has contributed to safe physical Human-Robot Interaction (pHRI) mainly for assistive applications. However, a robot capable of directly manipulating the human body, which is key for the implementation of autonomous rescue robots, has not been developed so far. In this paper, the development of a gripper and methods for the robotic manipulation of a laying victim’s forearm, initiated by the robot is addressed, and validated based on experimental results. An underactuated gripper with added proprioceptive sensors has been designed, with environment sensing and tactile recognition capabilities. This method provides a stable grasping of a human forearm that lays on a surface and is capable of estimating the roll angle of the grasped arm for precise location and safe manipulation. The roll-angle estimation method is based on Machine Learning and has been trained with experimental data obtained from experiments with human volunteers. The resulting method provides robust and precise grasping, tolerant to location inaccuracy with inexpensive sensors. This is one of the very first works on the robotic human-body manipulation.

Underactuated Gripper with Forearm Roll Estimation for Human Limbs Manipulation in Rescue Robotics

A new robotic system for Search And Rescue (SAR) operations based on the automatic wristband placement on the victims' arm, which may provide identification, beaconing and remote sensor readings for continuous health monitoring. This paper focuses on the development of the automatic target localization and the device placement using an unmanned aerial manipulator. The automatic wrist detection and localization system uses an RGB-D camera and a convolutional neural network based on the region faster method (Faster R-CNN). A lightweight parallel delta manipulator with a large workspace has been built, and a new design of a wristband in the form of a passive detachable gripper, is presented, which, under contact, automatically attaches to the human, while disengages from the manipulator. A new trajectory planning method has been used to minimize the torques caused by the external forces during contact, which cause attitude perturbations. Experiments have been done to evaluate the machine learning method for detection and location, and for the assessment of the performance of the trajectory planning method. The results show how the VGG-16 neural network provides a detection accuracy of 67.99%. Moreover, simulation experiments have been done to show that the new trajectories minimize the perturbations to the aerial platform.

/pdf/methods-for-autonomous-wristband-placement-with-a-search-and-13pl3sn60c.pdf

Methods for Autonomous Wristband Placement with a Search-and-Rescue Aerial Manipulator

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Methods for Autonomous Wristband Placement with a Search-and-Rescue Aerial Manipulator