{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,19]],"date-time":"2026-06-19T08:49:09Z","timestamp":1781858949993,"version":"3.54.5"},"reference-count":37,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T00:00:00Z","timestamp":1687737600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The sampling and monitoring of nature have become an important subject due to the rapid loss of green areas. This work proposes a possible solution for a sampling method of the leaves using an ornithopter robot equipped with an onboard 94.1 g dual-arm cooperative manipulator. One hand of the robot is a scissors-type arm and the other one is a gripper to perform the collection, approximately similar to an operation by human fingers. In the move toward autonomy, a stereo camera has been added to the ornithopter to provide visual feedback for the stem, which reports the position of the cutting and grasping. The position of the stem is detected by a stereo vision processing system and the inverse kinematics of the dual-arm commands both gripper and scissors to the right position. Those trajectories are smooth and avoid any damage to the actuators. The real-time execution of the vision algorithm takes place in the lightweight main processor of the ornithopter which sends the estimated stem localization to a microcontroller board that controls the arms. The experimental results both indoors and outdoors confirmed the feasibility of this sampling method. The operation of the dual-arm manipulator is done after the perching of the system on a stem. The topic of perching has been presented in previous works and here we focus on the sampling procedure and vision\/manipulator design. The flight experimentation also approves the weight of the dual-arm system for installation on the flapping-wing flying robot.<\/jats:p>","DOI":"10.1017\/s0263574723000851","type":"journal-article","created":{"date-parts":[[2023,6,26]],"date-time":"2023-06-26T02:13:46Z","timestamp":1687745626000},"page":"3022-3039","source":"Crossref","is-referenced-by-count":7,"title":["A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1396-5082","authenticated-orcid":false,"given":"Saeed","family":"Rafee Nekoo","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Daniel","family":"Feliu-Talegon","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Raul","family":"Tapia","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alvaro C.","family":"Satue","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jose Ramiro","family":"Mart\u00ednez-de Dios","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anibal","family":"Ollero","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2023,6,26]]},"reference":[{"key":"S0263574723000851_ref11","doi-asserted-by":"crossref","unstructured":"[11] Luque, P. S. , Satue, A. C. , Nekoo, S. R. , Acosta, J. A. and Ollero, A. , \u201cTheoretical and Experimental Investigation on Body Control After Perching for Flapping-Wing Robots: Extending the Workspace for Manipulation,\u201d In: International Conference on Unmanned Aircraft Systems (ICUAS),Warsaw, Poland (IEEE, 2023) pp.\u00a0948\u2013955.","DOI":"10.1109\/ICUAS57906.2023.10156510"},{"key":"S0263574723000851_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3093282"},{"key":"S0263574723000851_ref8","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-35356-5"},{"key":"S0263574723000851_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/AIM46487.2021.9517389"},{"key":"S0263574723000851_ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-1580-9_19"},{"key":"S0263574723000851_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5649984"},{"key":"S0263574723000851_ref25","first-page":"1","volume-title":"2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO),","author":"Armengol","year":"2021"},{"key":"S0263574723000851_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s11119-022-09981-5"},{"key":"S0263574723000851_ref22","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-021-00472-7"},{"key":"S0263574723000851_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593940"},{"key":"S0263574723000851_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3147462"},{"key":"S0263574723000851_ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2655559"},{"key":"S0263574723000851_ref31","doi-asserted-by":"crossref","unstructured":"[31] Bl\u00f6sch, M. , Weiss, S. , Scaramuzza, D. and Siegwart, R. , \u201cVision Based MAV Navigation in Unknown and Unstructured Environments,\u201d In: 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA (2010) pp.\u00a021\u201328.","DOI":"10.1109\/ROBOT.2010.5509920"},{"key":"S0263574723000851_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3052240"},{"key":"S0263574723000851_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-21062-4_31"},{"key":"S0263574723000851_ref37","doi-asserted-by":"publisher","DOI":"10.1109\/BMEI.2010.5639880"},{"key":"S0263574723000851_ref14","unstructured":"[14] Koparan, C. and Koc, A. B. , \u201cUnmanned Aerial Vehicle (UAV) Assisted Water Sampling,\u201d In: 2016 ASABE Annual International Meeting, Orlando, FL, USA (American Society of Agricultural and Biological Engineers, 2016) p. 1."},{"key":"S0263574723000851_ref1","doi-asserted-by":"publisher","DOI":"10.3389\/fpls.2021.611940"},{"key":"S0263574723000851_ref24","doi-asserted-by":"publisher","DOI":"10.3390\/app12031173"},{"key":"S0263574723000851_ref28","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2021.102719"},{"key":"S0263574723000851_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721000564"},{"key":"S0263574723000851_ref21","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.16"},{"key":"S0263574723000851_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363083"},{"key":"S0263574723000851_ref4","doi-asserted-by":"publisher","DOI":"10.3390\/mi13020250"},{"key":"S0263574723000851_ref9","doi-asserted-by":"publisher","DOI":"10.3390\/app10186516"},{"key":"S0263574723000851_ref19","unstructured":"[19] Callaghan, D. , McGrath, M. M. and Coyle, E. , \u201cForce Measurement Methods in Telerobotic Surgery: Implications for End-Effector Manufacture,\u201d In: Proceedings of the 25th International Manufacturing Conference (IMC25), Dublin, Ireland (2008) pp.\u00a03\u20135."},{"key":"S0263574723000851_ref33","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2683530"},{"key":"S0263574723000851_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2021.104615"},{"key":"S0263574723000851_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2022.3184110"},{"key":"S0263574723000851_ref13","first-page":"43","article-title":"Performance evaluation of a multi-rotor unmanned agricultural aircraft system for chemical application","volume":"14","author":"Zhu","year":"2021","journal-title":"Int. J. Agric. Biol. 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