2A2-G03 Automatic grasping control for robotic hand mounted on the top of the airframe

Abstract

We describe a vision-based automated control system of grasping for a robotic hand mounted on the top of the multi-copter airframe, developed for an upward directed aerial manipulation. In this system, position and orientation of the bar-like object are measured and the object in the hand is detected through the monocular camera image and the FPGA-based on-board processing. By combining these functions, positioning and grasping in aerial manipulation can be automatically performed.