ARCAS project, free-flying robot system for assembly and structure construction, FP7, Europe

[Airicist]

youtube.com/ARCASProject (https://www.youtube.com/ARCASProject)

facebook.com/ARCASProject (https://www.facebook.com/ARCASProject)

twitter.com/ARCAS_FP7 (https://twitter.com/ARCAS_FP7)

Coordinator institution - Advanced Aerospace Technologies Center (https://pr.ai/showthread.php?12969)

Researcher - Angel Santamaria-Navarro (https://www.linkedin.com/in/angel-santamaria-navarro-1697225a)

[Airicist]

https://youtu.be/Id4hwnbPI4U

Autonomous Structure Assembly

Published on Jun 7, 2013


Autonomous Structure Assembly (second robotic arm version) from preliminary experiments presented to the Europeam Commission in the First Project review

[Airicist]

https://youtu.be/-rIEBWrtHkc

Published on Apr 30, 2015


ARCAS will provide integrated and consolidated scientific foundations for flying robot perception, planning and control. In particular, ARCAS will produce a framework for the design and development of cooperating flying robots for assembly operations.
During this third year, research has advanced as planned and the first experiments have been carried out.

[Airicist]

https://youtu.be/THjNxtO_rw0

ARCAS summary Year 3

Published on Oct 12, 2015


A summary of the progress in the first 3 years of the project. Force estimation and motion compensation, visual servoing bar detection and tracking, outdoor multirotor graspoing with 7DoF arm and other scientific feats are demonstrated.

[Airicist]

https://youtu.be/CslR9ArrgBA

ARCAS 4th year

Published on Feb 2, 2016


During the 4th and last year of the project, R&D activities have been focused in the indoor integrated experiment with:
- RO-SLAM localization,
- Kinodynamic aerial manipulator motion planning using a directed bi-RRT algorithm
- Priority-based behavioral control including field of view, distance manipulator-observer and obstacle avoidance tasks
- Motion planning initialization and Optimal Reciprocal Collision Avoidance
- Trajectories calculation using a centralized quasi-static approach
- Multivehicle navigation of the planned trajectories including field of view and obstacle avoidance
- Hybrid Visual SWervoing with Hierarchical Task Composition using a multilayer low level controller
- Two aerial manipulators perform a cooperative grasping, transportation and deployment of a long rigid bar
- Cooperative transportation of the long bar following a trajectory that avoids the obstacle

Regarding the outdoor experiments, these are the main characteristics:
- RO-SLAM
- RO-SLAM and GPS approach and grasping with aerial robotic manipulator based on multi-rotor with 7 DoF arm
- Visual Servoing Grasping with the Flettner helicopter and LWR 7 DoF arm
- Manipulator compensating ground effect
- Increase altitude with the compensation of the load weight and transport to the point of interest
- Detach the service robot

[Airicist]

https://youtu.be/QmNsnjKA7w8

ARCAS: Project summary video

Published on Feb 2, 2016


This video sums up the results of R&D in the ARCAS Project. The main breakthroughs from the years 1, 2 and 3 are:
- Force estimation and motion compensation
- Experiments on force control
- Path planning with dynamic models
- Local planning based on on-board sensors
- Geometric Task Planning
- Structure assembly with a 2 DoF arm
- Industrial mock-up application
- 3D robot pose from camera view
- Visual servoing with 6 DoF arm
- Decentralized RO-SLAM
- Multivehicle planning
- Joint Transportation

Finally, in the last year, the indoor integrated experimets took place:
- RO-SLAM localization
- Multivehicle trajectories localization
- Hybrid Visual SErvoing with Hierarchical TAsk Composition using a multlayer low level controller
- Cooperative transportation and deployment

Regarding the outdoor experiments in this last year, these are the main advances:
- Outdoor multirotor grasping with 7 DoF arm
- Outdoor grasping with 7 DoF arm using GPS and RO-SLAM
- Autonomous vision guided grasping with helicopter and LWR industrial arm
- Arm-helicopter coordinated control
- Visual Servoing Grasping with the Flettner helicopter and the LWR 7DoF arm
- Manipulator space testbed
- HMI and telepresence for servicing on orbit
- HMI and telepresence for aerial manipulation

[Airicist]

https://youtu.be/_JV0MAc_keM

ARCAS: Fliegender Arm

Published on Feb 29, 2016