A simplified downwash dynamics model is developed which is used to train an RL policy to dribble a soccer ball and it is demonstrated that the policy transfers to real world deployment.
Abstract
Although multicopter drones are traditionally designed for"perception-only"tasks, like mapping and exploration, recent work has sought to develop Unmanned Aerial Manipulators (UAMs) to solve mobile manipulation tasks. Aerial manipulation performance can be impacted by"downwash,"the airflow produced by propellers, but current state-of-the-art UAMs either ignore downwash or treat it as a disturbance. Instead, is it possible to actively use downwash as a tool during manipulation? We design a drone soccer task to explore the feasibility of downwash-based manipulation. Specifically, we develop a simplified downwash dynamics model which we use to train an RL policy to dribble a soccer ball. We further demonstrate that our policy transfers to real world deployment. This work provides key insights into novel manipulation capabilities for multicopters.
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