A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

Abstract The sampling and monitoring of nature have become an important subject due to the rapid loss green areas. This work proposes a possible solution for method leaves using ornithopter robot equipped with onboard 94.1 g dual-arm cooperative manipulator. One hand is scissors-type arm other one gripper perform collection, approximately similar operation by human fingers. In move toward autonomy, stereo camera has been added provide visual feedback stem, which reports position cutting grasping. stem detected vision processing system inverse kinematics commands both scissors right position. Those trajectories are smooth avoid any damage actuators. real-time execution algorithm takes place in lightweight main processor sends estimated localization microcontroller board that controls arms. experimental results indoors outdoors confirmed feasibility this method. manipulator done after perching on stem. topic presented previous works here we focus procedure vision/manipulator design. flight experimentation also approves weight installation flapping-wing flying robot.