DroneTrap: Drone catching in midair by soft robotic hand with color-based force detection and hand gesture recognition

Aleksey Fedoseev, Valerii Serpiva, Ekaterina Karmanova, Miguel Altamirano Cabrera, Vladimir Shirokun, Iakov Vasilev, Stanislav Savushkin, Dzmitry Tsetserukou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Citations (Scopus)

Abstract

The paper proposes a novel concept of docking drones to make this process as safe and fast as possible. The idea behind the project is that a robot with a soft gripper grasps the drone in midair. The human operator navigates the robotic arm with the ML-based gesture recognition interface. The 3-finger robot hand with soft fingers is equipped with touch sensors, making it possible to achieve safe drone catching and avoid inadvertent damage to the drone's propellers and motors. Additionally, the soft hand is featured with a unique color-based force estimation technology based on a computer vision (CV) system. Moreover, the visual color-changing system makes it easier for the human operator to interpret the applied forces.Without any additional programming, the operator has full real-time control of robot's motion and task execution by wearing a mocap glove with gesture recognition, which was developed and applied for the high-level control of DroneTrap.The experimental results revealed that the developed color-based force estimation can be applied for rigid object capturing with high precision (95.3%). The proposed technology can potentially revolutionize the landing and deployment of drones for parcel delivery on uneven ground, structure maintenance and inspection, risque operations, and etc.

Original languageEnglish
Title of host publication2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages261-266
Number of pages6
ISBN (Electronic)9781728177137
DOIs
Publication statusPublished - 12 Apr 2021
Event4th IEEE International Conference on Soft Robotics, RoboSoft 2021 - New Haven, United States
Duration: 12 Apr 202116 Apr 2021

Publication series

Name2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021

Conference

Conference4th IEEE International Conference on Soft Robotics, RoboSoft 2021
Country/TerritoryUnited States
CityNew Haven
Period12/04/2116/04/21

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