Manipulation of Soft Bodies by Multiples Drones
Philipp Tempel, Sébastien Briot, Abdelhamid Chriette and Paolo Robuffo Giordano
Aerial robots meet many industrial needs, but their gripping capacity, reduced to a metal clip, is not adapted to complex objects. The MAMBO project offers a new solution: a soft gripper, composed of a soft body that can withstand a large deformation and thus adapt to any object shape. Lightweight, soft gripper can be larger and have no impact on the autonomy of drones.
Partners
The consortium of the MAMBO project is composed of two partners:
- LS2N Laboratoire des Sciences du Numérique de Nantes (LS2N, CNRS UMR 6004)
- Rainbow sensor-based and interactive robotics team (Inria/IRISA)
My contributions
- Developed low-dimensional model of flexible slender continuum bodies actuated by discrete wrenches at their extremities;
- Developed geometric controller to deform the slender bodies and move along spatial trajectories;
- Developed extended Kalman filter for state estimation of flexible slender continuum bodies;