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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.
Author(s):
Fanyi Kong
Simone Monteleone
Manuel G. Catalano
Giorgio Grioli
Antonio Bicchi
Vinicio Tincani
Giacomo Dinuzzi
Mattia Poggiani
Affiliation(s):
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
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