Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle

dc.contributor.author	McArthur, Daniel R.
dc.contributor.author	Chowdhury, Arindam B.
dc.contributor.author	Cappelleri, David J.
dc.date.accessioned	2022-02-04T14:26:03Z
dc.date.available	2022-02-04T14:26:03Z
dc.date.copyright	2020/01/10/
dc.date.issued	2020
dc.identifier.issn	1942-4302
dc.identifier.other	jmr_12_2_021102.pdf
dc.identifier.uri	http://yetl.yabesh.ir/yetl1/handle/yetl/4273649
dc.description.abstract	This paper presents the design of a light-weight, compliant end-effector and an image processing strategy that together enable the Interacting-BoomCopter (I-BC) unmanned aerial vehicle (UAV) to perform an autonomous door-opening task. Autonomy is achieved through the use of feedback from an onboard camera for door detection & localization, and embedded force and distance sensors in the end-effector for detecting the physical interaction with the door. The results of several experimental flight tests are presented in which the end-effector and image processing strategy were deployed on the I-BC to successfully open a small enclosure door autonomously.
dc.publisher	The American Society of Mechanical Engineers (ASME)
dc.title	Autonomous Door Opening With the Interacting-BoomCopter Unmanned Aerial Vehicle
dc.type	Journal Paper
dc.journal.volume	12
dc.journal.issue	2
dc.journal.title	Journal of Mechanisms and Robotics
dc.identifier.doi	10.1115/1.4045843
dc.page	21102
dc.tree	Journal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 002
dc.contenttype	Fulltext