AeCoM_Aerial-Continuum-Manipulator

KO | EN

gitlite — search

#javascript #python #hacktoberfest #react #ai #typescript #llm #go #golang #android #machine-learning #rust #deep-learning #linux

AeCoM_Aerial-Continuum-Manipulator

(★ 24)

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.

AeCoM_Aerial-Continuum-Manipulator Latest Version Download

Download Latest Version (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

## 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](https://github.com/professor1996/AeCoM_Aerial-Continuum-Manipulator/blob/main/System%20architecture%20(.jpg)/AeCoM%20mechanism.jpg)

**Software:**
![image](https://github.com/professor1996/AeCoM_Aerial-Continuum-Manipulator/blob/main/System%20architecture%20(.jpg)/AeCoM%20software.jpg)

## Aerial Grasping Demo

**Video link:**

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

![image](https://github.com/professor1996/AeCoM_Aerial-Continuum-Manipulator/blob/main/Experimental%20demos%20(.gif)/80%5Eo%20grasping.gif)

## 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](https://arclab.hku.hk/People.html) or pengrui-rio@connect.hku.hk for further communication.

AeCoM_Aerial-Continuum-Manipulator

AeCoM_Aerial-Continuum-Manipulator Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

AeCoM_Aerial-Continuum-Manipulator

AeCoM_Aerial-Continuum-Manipulator Latest Version Download

Today's picks

Was this content helpful?

Recent Feedback

Download README