Alter-EGO F. A Robotic Aerial Platform with Functionally Anthropomorphic Arms
designed for Physical Interaction

This section presents the Alter-EGO F. The aerial platform with an anthropomorphic torso designed for physical Interaction.

The aerial platform comprises a DJI Matrice 600 Pro hexacopter, 5 DoFs arms, a 2DoFs head, and finally, two Softhands.

The robot is employed for aerial teleoperations. In the following, we provide the CAD of the system, the ROS control packages, and a simulation environment in which it is possible to test developed controllers.

drone_humanoid.png

Author(s):

         Fanyi Kong

Simone Monteleone

Manuel G. Catalano

Giorgio Grioli

Antonio Bicchi

Vinicio Tincani

Giacomo Dinuzzi

Mattia Poggiani

 

Affiliation(s):

Centro E. Piaggio

Università di Pisa

Dipartimento di Ingegneria dell'Informazione

Istituto Italiano di Tecnologia

Downloads

License: license type

Mechanical Design
ROS software controller of the drone
Gazebo Aerial Platform Simulator
Assembly Instruction
End-Effectors
Pilot Station Software