Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
OPEN ACCESS
Loading...
Author / Producer
Date
2022
Publication Type
Conference Paper
ETH Bibliography
yes
Citations
Altmetric
OPEN ACCESS
Data
Rights / License
Abstract
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches.
However, in real scenarios, modeling the environment with high accuracy is often impossible.
In this work, we aim at developing a control framework for OMAV for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment.
Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator.
This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment.
The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances.
For this scenario, we present, evaluate and discuss three different policies.
Permanent link
Publication status
published
Editor
Book title
2022 International Conference on Robotics and Automation (ICRA)
Journal / series
Volume
Pages / Article No.
2054 - 2060
Publisher
IEEE
Event
IEEE International Conference on Robotics and Automation (ICRA 2022)
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
Aerial manipulation; Aerial robotics; Aerial robots; Passivity; Passivity-based control; passivity
Organisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication