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Jun, 2021 - Mar, 2023. Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong (HKU). Manuscript received 15 November 2022; accepted 9 March 2023. This work was supported by the General Research Fund under Grant 17204222, and in part by the Seed Funding for Strategic Interdisciplinary Research Scheme and Platform Technology Fund.

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arclab-hku/AeCoM_Aerial-Continuum-Manipulator

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Publication

R. Peng, Z. Wang and P. Lu, "AeCoM: An Aerial Continuum Manipulator With IMU-Based Kinematic Modeling and Tendon-Slacking Prevention," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, doi: 10.1109/TSMC.2023.3257166.

https://ieeexplore.ieee.org/document/10081306

System Architecture

Mechanism: image

Software: image

Aerial Grasping Demo

Video link:

https://www.bilibili.com/video/BV1Rm4y1d7Ai/?spm_id_from=333.999.0.0

image

MCU Communication Code

msg with PC -> USART1 A9 A10

msg with tendon motors -> USART3 B10 B11

Citation

@article
{
  peng2023aecom,
  title={AECOM: An aerial continuum manipulator with IMU-based kinematic modeling and tendon-slacking prevention},
  author={Peng, Rui and Wang, Zehao and Lu, Peng},
  journal={IEEE Transactions on Systems, Man, and Cybernetics: Systems},
  volume={53},
  number={8},
  pages={4740--4752},
  year={2023},
  publisher={IEEE}
}

LICENSE

This repository is licensed under MIT license. International License and is provided for academic purposes. If you are interested in our project for commercial purposes, please contact Dr. Peng LU or pengrui-rio@connect.hku.hk for further communication.

About

Jun, 2021 - Mar, 2023. Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong (HKU). Manuscript received 15 November 2022; accepted 9 March 2023. This work was supported by the General Research Fund under Grant 17204222, and in part by the Seed Funding for Strategic Interdisciplinary Research Scheme and Platform Technology Fund.

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