Forceful Valve Manipulation by Articulated Aerial Robot DRAGON

This is our new work about DRAGON, which achieves the forceful valve manipulation with arbitrary direction by this articulated aerial robot. To the best of our knowledge, this is the first time to achieve the operation of real industrial valve with real torque scale by aerial robot. This work has been published in IEEE Robotics and Automation Letters, and will be also presented in IEEE ICRA 2022. =========================================== Title: Forceful Valve Manipulation with Arbitrary Direction by Articulated Aerial Robot Equipped with Thrust Vectoring Apparatus Authors: Moju Zhao, Keisuke Nagato, Kei Okada, Masayuki Inaba, Masayuki Nakao Abstraction: Aerial manipulation is a growing field of research, and multirotors with attached arm manipulator have shown practical utility in contact-based inspection. However, theses coupled platforms limit the pose reachability of the end-effector, which then motivates the development of omni-directional designs for aerial robot