dc.creator | Nekoo, Saeed Rafee | es |
dc.creator | Feliu Talegón, Daniel | es |
dc.creator | Tapia López, Raúl | es |
dc.creator | Satué, Álvaro C. | es |
dc.creator | Martínez de Dios, José Ramiro | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2023-09-05T15:07:38Z | |
dc.date.available | 2023-09-05T15:07:38Z | |
dc.date.issued | 2023 | |
dc.identifier.citation | Nekoo, S.R., Feliu Talegón, D., Tapia López, R., Satué, Á.C., Martínez de Dios, J.R. y Ollero Baturone, A. (2023). A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system. Robotica. https://doi.org/10.1017/S0263574723000851. | |
dc.identifier.issn | 0263-5747 | es |
dc.identifier.uri | https://hdl.handle.net/11441/148655 | |
dc.description | This is an Open Access article, distributed under the terms of the Creative
Commons Attribution licence (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted re-use, distribution and reproduction,
provided the original article is properly cited. | es |
dc.description.abstract | The sampling and monitoring of nature have become an important subject due to the rapid loss of green areas. This
work proposes a possible solution for a sampling method of the leaves using an ornithopter robot equipped with
an onboard 94.1 g dual-arm cooperative manipulator. One hand of the robot is a scissors-type arm and the other
one is a gripper to perform the collection, approximately similar to an operation by human fingers. In the move
toward autonomy, a stereo camera has been added to the ornithopter to provide visual feedback for the stem, which
reports the position of the cutting and grasping. The position of the stem is detected by a stereo vision processing
system and the inverse kinematics of the dual-arm commands both gripper and scissors to the right position. Those
trajectories are smooth and avoid any damage to the actuators. The real-time execution of the vision algorithm
takes place in the lightweight main processor of the ornithopter which sends the estimated stem localization to a
microcontroller board that controls the arms. The experimental results both indoors and outdoors confirmed the
feasibility of this sampling method. The operation of the dual-arm manipulator is done after the perching of the
system on a stem. The topic of perching has been presented in previous works and here we focus on the sampling
procedure and vision/manipulator design. The flight experimentation also approves the weight of the dual-arm
system for installation on the flapping-wing flying robot. | es |
dc.format | application/pdf | es |
dc.format.extent | 18 p. | es |
dc.language.iso | eng | es |
dc.publisher | Cambridge University Press | es |
dc.relation.ispartof | Robotica. | |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | Cooperative manipulator | es |
dc.subject | Lightweight | es |
dc.subject | Ornithopter robots | es |
dc.subject | Dual arm | es |
dc.title | A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | 788247 | es |
dc.relation.projectID | PDC2021-121524-I00 | es |
dc.relation.projectID | FPU19/04692 | es |
dc.relation.publisherversion | https://www.cambridge.org/core/journals/robotica/article/941-g-scissorstype-dualarm-cooperative-manipulator-for-plant-sampling-by-an-ornithopter-using-a-vision-detection-system/808E3A06F98F58DD68DFA3C8D1773E1C | es |
dc.identifier.doi | 10.1017/S0263574723000851 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control | es |
dc.journaltitle | Robotica | es |
dc.contributor.funder | Unión Europea | es |
dc.contributor.funder | Ministerio de Ciencia, Innovación y Universidades (MICINN). España | es |