一种用于野外自主空中操控的开源软体机器人平台 (An Open-Source Soft Robotic Platform for Autonomous Aerial Manipulation in the Wild)

from arxiv, Project website: https://sites.google.com/view/open-source-soft-platform/open-source-soft-robotic-platform GitHub: https://github.com/raptor-ethz

Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally, researchers have relied on offboard perception systems, which are limited to expensive and impractical specially equipped indoor environments. In this work, we introduce a novel platform for autonomous aerial manipulation that exclusively utilizes onboard perception systems. Our platform can perform aerial manipulation in various indoor and outdoor environments without depending on external perception systems. Our experimental results demonstrate the platform's ability to autonomously grasp various objects in diverse settings. This advancement significantly improves the scalability and practicality of aerial manipulation applications by eliminating the need for costly tracking solutions. To accelerate future research, we open source our ROS 2 software stack and custom hardware design, making our contributions accessible to the broader research community.

翻译：空中操控结合了飞行平台的灵活性与速度以及移动操控的功能性，由于需要精确定位与控制，带来了显著挑战。传统上，研究者依赖外部感知系统，这些系统仅限于昂贵且不切实际的特殊装备室内环境。在本研究中，我们提出了一种新型自主空中操控平台，该平台完全利用机载感知系统。我们的平台能够在各种室内外环境中执行空中操控任务，无需依赖外部感知系统。实验结果表明，该平台能够在多样化场景中自主抓取各类物体。这一进展通过消除对昂贵追踪解决方案的需求，显著提升了空中操控应用的可扩展性与实用性。为加速未来研究，我们开源了ROS 2软件栈及定制硬件设计，使研究成果可供更广泛的研究社区使用。