Cooperative manipulation and transportation with aerial robots

—In this paper we consider the problem of controlling multiple robots manipulating and transporting a payload in three dimensions via cables. We develop robot configurations that ensure static equilibrium of the payload at a desired pose while respecting constraints on the tension and provide analysis of payload stability for these configurations. We demonstrate our methods on a team of aerial robots via simulation and experimentation.

• Type: Journal
• Year: 2011
• Where: AROBOTS
• Authors: Nathan Michael, Jonathan Fink, Vijay Kumar
• Keywords: AROBOTS 2011, Multiple Robots, Payload Stability, Robots, Software Engineering