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| Hauptverfasser: | , , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| Online-Zugang: | https://arxiv.org/abs/2412.19744 |
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| _version_ | 1866910832461348864 |
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| author | Yang, William Kona, Karthikeya Jain, Yashveer Atzili, Tomer Bhamidipati, Abhinav Lin, Xiaomin Zha, Yantian |
| author_facet | Yang, William Kona, Karthikeya Jain, Yashveer Atzili, Tomer Bhamidipati, Abhinav Lin, Xiaomin Zha, Yantian |
| contents | Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in SEa, Air, and Land Simulator (SEALS), a comprehensive and photorealistic simulator designed for AAMs to operate and learn in these diverse environments. The development of AAM-SEALS tackles several significant challenges, including the creation of integrated controllers for flying, swimming, and manipulation, and the high-fidelity simulation of aerial dynamics and hydrodynamics leveraging particle-based hydrodynamics. Our evaluation demonstrates smooth operation and photorealistic transitions across air, water, and their interfaces. We quantitatively validate the fidelity of particle-based hydrodynamics by comparing position-tracking errors across real-world and simulated systems. AAM-SEALS benefits a broad range of robotics communities, including robot learning, aerial robotics, underwater robotics, mobile manipulation, and robotic simulators. We will open-source our code and data to foster the advancement of research in these fields. The overview video is available at https://youtu.be/MbqIIrYvR78. Visit our project website at https://aam-seals.umd.edu for more details. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_19744 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator Yang, William Kona, Karthikeya Jain, Yashveer Atzili, Tomer Bhamidipati, Abhinav Lin, Xiaomin Zha, Yantian Robotics Current mobile manipulators and high-fidelity simulators lack the ability to seamlessly operate and simulate across integrated environments spanning sea, air, and land. To address this gap, we introduce Aerial-Aquatic Manipulators (AAMs) in SEa, Air, and Land Simulator (SEALS), a comprehensive and photorealistic simulator designed for AAMs to operate and learn in these diverse environments. The development of AAM-SEALS tackles several significant challenges, including the creation of integrated controllers for flying, swimming, and manipulation, and the high-fidelity simulation of aerial dynamics and hydrodynamics leveraging particle-based hydrodynamics. Our evaluation demonstrates smooth operation and photorealistic transitions across air, water, and their interfaces. We quantitatively validate the fidelity of particle-based hydrodynamics by comparing position-tracking errors across real-world and simulated systems. AAM-SEALS benefits a broad range of robotics communities, including robot learning, aerial robotics, underwater robotics, mobile manipulation, and robotic simulators. We will open-source our code and data to foster the advancement of research in these fields. The overview video is available at https://youtu.be/MbqIIrYvR78. Visit our project website at https://aam-seals.umd.edu for more details. |
| title | AAM-SEALS: Developing Aerial-Aquatic Manipulators in SEa, Air, and Land Simulator |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.19744 |