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Origami- based Miniaturized Aerial Manipulator for Physical Interaction
Aerial interaction is a booming area of interest, coupling the agility of MAVs with the dexterity of manipulation robots. New challenges emerge when new actuated components are added to the system making the system dynamics more complex. Origami manipulators pose a promising solution for lightweight
The project scope includes the characterization of foldable structures in terms of impedance property, and possibly the improvement of the current prototype. The origami delta arm should be integrated in the existing multidirectional aerial robot. A physical interaction controller that exploits the mechanical compliance of the delta arm should be designed and tested and evaluated with real experiments.
**Work Packages (involved institution)**
- Definition of problem and performance requirements. (ASL/WSL)
- Literature review of related works and foldable manipulator design techniques. (ASL/WSL)
- Characterization of foldable structures in terms of impedance property. (WSL)
- Development/improvement and construction of a physical prototype. (WSL)
- Design of a physical interaction control method. (ASL)
- System integration and validation through real experiments. (ASL)
- Detailed evaluation of results and performance. (ASL/WSL)
**Requirements**
- High motivation and interest in the topic.
- Methodological and goal-oriented working behavior.
- Strong interest and experience in mechanism design and actuation.
**References**
- Mintchev, Stefano, Jun Shintake, and Dario Floreano. "Bioinspired dual-stiffness origami." Science Robotics 3.20 (2018).
- Mintchev, Stefano, et al. "A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions." Nature Machine Intelligence 1.12 (2019): 584-593.
- Bodie, Karen, et al. "An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection." Robotics: Science and System XV 15 (2019).
The project scope includes the characterization of foldable structures in terms of impedance property, and possibly the improvement of the current prototype. The origami delta arm should be integrated in the existing multidirectional aerial robot. A physical interaction controller that exploits the mechanical compliance of the delta arm should be designed and tested and evaluated with real experiments.
**Work Packages (involved institution)** - Definition of problem and performance requirements. (ASL/WSL) - Literature review of related works and foldable manipulator design techniques. (ASL/WSL) - Characterization of foldable structures in terms of impedance property. (WSL) - Development/improvement and construction of a physical prototype. (WSL) - Design of a physical interaction control method. (ASL) - System integration and validation through real experiments. (ASL) - Detailed evaluation of results and performance. (ASL/WSL)
**Requirements** - High motivation and interest in the topic. - Methodological and goal-oriented working behavior. - Strong interest and experience in mechanism design and actuation.
**References** - Mintchev, Stefano, Jun Shintake, and Dario Floreano. "Bioinspired dual-stiffness origami." Science Robotics 3.20 (2018). - Mintchev, Stefano, et al. "A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions." Nature Machine Intelligence 1.12 (2019): 584-593. - Bodie, Karen, et al. "An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection." Robotics: Science and System XV 15 (2019).
Not specified
Application via SiROP portal with the following documents:
- motivation statement,
- CV,
- transcript
Application via SiROP portal with the following documents: - motivation statement, - CV, - transcript