Video: Multi-Task Teleoperation of the Suspended Aerial Manipulator
The proposed framework allows for the human operator to not only command the end-effector of the SAM, but also move the flying base in order to achieve a desired camera view.
Relying on the kinematic redundancy of the SAM, the proposed framework ensures that base motion can be performed without disturbing the end-effector. This is desired in case the task area is being occluded by the arm or to align the camera view with the joystick motion.
Although the operator and the robot are side by side, the former only relies on camera images and haptic feedback, which shows the applicability of the approach to a real teleoperation scenario.
Video: Multi-Task Teleoperation of the Suspended Aerial Manipulator
Video: Multi-Task Teleoperation of the Suspended Aerial Manipulator
The proposed framework allows for the human operator to not only command the end-effector of the SAM, but also move the flying base in order to achieve a desired camera view.
Relying on the kinematic redundancy of the SAM, the proposed framework ensures that base motion can be performed without disturbing the end-effector. This is desired in case the task area is being occluded by the arm or to align the camera view with the joystick motion.
Although the operator and the robot are side by side, the former only relies on camera images and haptic feedback, which shows the applicability of the approach to a real teleoperation scenario.
Credit: DLR (CC BY-NC-ND 3.0)
Duration:00:03:38