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

  1. #1

  2. #2

    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

  3. #3

    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.

  4. #4

    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.

  5. #5

    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

  6. #6

    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

  7. #7

    ARCAS: Fliegender Arm

    Published on Feb 29, 2016

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