Constrained trajectory optimization and force control for UAVs with universal jamming grippers.

ABSTRACT: This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping with no human operator in the loop. Grounded in the principles of granular jamming, the UG exhibits remarkable adaptability and proficiency, navigating the complexities of soft aerial grasping with enhanced robustness and versatility. Central to this integration is a uniquely formulated constrained trajectory optimization using model predictive control, coupled with a robust force control strategy, increasing the level of automation and operational reliability in aerial grasping. This control structure, while simple, is a powerful tool for various applications, ranging from material handling to disaster response, and marks an advancement

SUBMITTER: Kremer P 

PROVIDER: S-EPMC11636936 | biostudies-literature | 2024 May

REPOSITORIES: biostudies-literature