DeepAI AI Chat
Log In Sign Up

Folding Knots Using a Team of Aerial Robots

by   Diego S. D'antonio, et al.
Lehigh University

From ancient times, humans have been using cables and ropes to tie, carry, and manipulate objects by folding knots. However, automating knot folding is challenging because it requires dexterity to move a cable over and under itself. In this paper, we propose a method to fold knots in midair using a team of aerial vehicles. We take advantage of the fact that vehicles are able to fly in between cable segments without any re-grasping. So the team grasps the cable from the floor, and releases it once the knot is folded. Based on a composition of catenary curves, we simplify the complexity of dealing with an infinite-dimensional configuration space of the cable, and formally propose a new knot representation. Such representation allows us to design a trajectory that can be used to fold knots using a leader-follower approach. We show that our method works for different types of knots in simulations. Additionally, we show that our solution is also computationally efficient and can be executed in real-time.


page 1

page 2

page 3

page 4


Forming and Controlling Hitches in Midair Using Aerial Robots

The use of cables for aerial manipulation has shown to be a lightweight ...

A framework for synchronizing a team of aerial robots in communication-limited environments

This paper addresses a synchronization problem that arises when a team o...

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

Transporting objects using aerial robots has been widely studied in the ...

Deep Neural Network-based Cooperative Visual Tracking through Multiple Micro Aerial Vehicles

Multi-camera full-body pose capture of humans and animals in outdoor env...

RAPTOR: Rapid Aerial Pickup and Transport of Objects by Robots

Rapid aerial grasping promises vast applications that utilize the dynami...

Passivity-based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators

This paper proposes a decentralized passive impedance control scheme for...

Armoured Fighting Vehicle Team Performance Prediction against Missile Attacks with Directed Energy Weapons

A recent study has introduced a procedure to quantify the survivability ...