Aerial Manipulation
Mobile manipulation, the hard way
Rapid Aerial Manipulation: RAPTOR @ IROS 2022
In this work, we showed our custom-developed aerial manipulator, which was able to rapidly pick up and transport objects using a motion capture system for perception.
Aerial HASEL Gripper
Our platform successfully served its purpose as a research platform for other projects, for example, the first aerial deployment of a HASEL gripper with electrostatic actuation. While I didn’t directly contribute to the publication, I was happy to see our platform succeed in its purpose.
Manipulating Objects Without Markers @ IROS 2023
This project was my bachelor’s thesis. At the time, our drone completely relied on a motion capture system for self-localization and target localization. I managed to solve target localization using an RGB-D camera, image segmentation and a grasp planning heuristic.
Aerial Manipulation in the Wild @ CoRL 2024
This project was the continuation of our previous research. We completely refactored the software, hardware and electronics stack. We also added visual SLAM for self-localization, which allowed us to perform aerial manipulation in the wild.