Compliant Manipulation for Autonomous Search and Rescue Operations

摘要

Autonomous robotic systems are performing an ever-increasing variety of tasks that can not only make our lives simpler, but sometimes even help save them. Disaster response, and search and rescue missions are such an application, where robots can greatly support human rescuers by expanding their capabilities and relieving them of dangerous or routine tasks. This is the goal of the SHERPA project, in which a mixed ground and aerial robotic team with a high degree of autonomy helps to locate missing or injured people in a hostile alpine environment. A compliant manipulator herein services small-scale UAVs, a collaborative task that involves dexterous manipulation in an unfamiliar environment, and potentially impacts or collisions. For this reason it is equipped with Variable Stiffness Actuators VSAs, which allow it to tune its mechanical end effector stiffness, and to interact with the environment in a passively compliant way. This thesis presents the design and control of this novel manipulator and its components, its integration with the other agents of the SHERPA team, and experimental validation of the mission.