151-0073-50L RAPTOR - Rapid Aerial Pick-and-Transfer of Objects by Robots
| Semester | Autumn Semester 2021 |
| Lecturers | R. Katzschmann |
| Periodicity | non-recurring course |
| Language of instruction | English |
| Comment | This course is part of a one-year course. The 14 credit points will be issued at the end of FS2022 with new enrolling for the same Focus Project in FS2022. For MAVT BSc and ITET BSc only. Prerequisites for the focus projects: a. Basis examination successfully passed b. Block 1 and 2 successfully passed For enrollment, please contact the D-MAVT Student Administration. |
| Abstract | Students develop and build a flying drone with soft gripper from the ground up. They work in teams and independently, learn to structure problems, identify solutions, perform system analysis and simulations, as well as presentation and documentation techniques. They build the flying platform with access to rapid prototyping facility, a machine shop, and state of the art engineering tools. |
| Learning objective | The various objectives of the Focus Project are: - Synthesizing and deepening the theoretical knowledge from the basic courses of the 1. - 4. semester - Team organization, work in teams, increase of interpersonal skills - Independence, initiative, independent learning of new topic contents - Problem structuring, solution identification in indistinct problem definitions, searches of information - System description and simulation - Presentation methods, writing of a document - Ability to make decisions, implementation skills - Workshop and industrial contacts - Learning and recess of special knowledge - Control of most modern engineering tools (Matlab, Simulink, CAD, CAE, PDM) |
| Content | In this focus project, you will develop the platform RAPTOR. The acronym stands for "Rapid Aerial Pick and Transfer of Objects by a Robot". Together with your team, you design, build and test a flying platform that swoops down towards an object to dynamically pick it up, just like an eagle swoops down to pick up its prey. The flying system will consist of a soft robot gripper attached to a quadcopter or vertical take-off and landing (VTOL) aircraft. The team's design will first be tested in simulation using tools including Matlab, Gazebo, Drake, and the soft robotics simulator SOFA. A testbed made out of a five bar linkage will facilitate the testing of the design and control of the soft gripper. The testbed emulates quadcopter trajectories on a plane. The testbed will validate the robustness of our gripping experiments in simulation. Successful designs and control algorithms will eventually be tested on a dynamically maneuverable aerial vehicle with self-built gripper. Project Outline: Link If you like to see the project slides or learn more about this project, please email Prof. Katzschmann. |
| Prerequisites / Notice | Optional but helpful: Basics of control theory, machine design, and dynamics. Previous exposure to mechatronics or robotic systems will also be helpful. |