A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments

TL;DR

This paper introduces a humanoid aerial platform with dexterous arms and a suspended tether system, enabling physical interaction in unstructured environments, validated through indoor disaster scenario experiments.

Contribution

The paper presents a modular suspended aerial manipulation system with tendon-driven arms and a humanoid torso, enhancing payload, robustness, and dexterity for complex tasks.

Findings

Successful indoor task execution in simulated disaster scenarios

Enhanced payload capacity and robustness due to tendon-driven design

Effective remote control of humanoid avatar in unstructured environments

Abstract

This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a hexacopter. A two-degree-of-freedom head and two five-degree-of-freedom arms equipped with softhands provide the requisite dexterity to allow human operators to carry out various tasks. A robust tendon-driven structure is purposefully designed for the arms, considerably reducing the impact of arm inertia on the floating base in motion. In addition, tendons provide flexibility to the joints, which enhances the robustness of the arm preventing damage in interaction with the environment. To increase the payload of the aerial system and the battery life, we use the concept of Suspended Aerial Manipulation, i.e., the flying humanoid can be connected with a tether to a structure, e.g., a larger airborne carrier or a supporting crane. Importantly, to maximize portability and applicability, we adopt a modular approach exploiting commercial components for the aerial base hardware and autopilot, while developing an outer stabilizing control loop to maintain the attitude, compensating for the tether force and for the humanoid head and arm motions. The humanoid can be controlled by a remote operator, thus effectively realizing a Suspended Aerial Manipulation Avatar. The proposed system is validated through experiments in indoor scenarios reproducing post-disaster tasks.