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:

Software:

Aerial Grasping Demo

Video link:

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

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.