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dc.contributor.author
Tzoumanikas, Dimos
dc.contributor.author
Graule, Felix
dc.contributor.author
Yan, Qingyue
dc.contributor.author
Shah, Dhruv
dc.contributor.author
Popović, Marija
dc.contributor.author
Leutenegger, Stefan
dc.contributor.editor
Toussaint, Marc
dc.contributor.editor
Bicchi, Antonio
dc.contributor.editor
Hermans, Tucker
dc.date.accessioned
2020-10-21T13:51:07Z
dc.date.available
2020-10-14T04:08:03Z
dc.date.available
2020-10-21T13:51:07Z
dc.date.issued
2020
dc.identifier.isbn
978-0-9923747-6-1
en_US
dc.identifier.other
10.15607/RSS.2020.XVI.046
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/445834
dc.description.abstract
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a NMPC specifically designed for MAVs equipped with a robotic arm. We formulate a hybrid control model for the combined MAV-arm system which incorporates interaction forces acting on the end effector. We explain the practical implementation of our algorithm and show extensive experimental results of our custom built system performing multiple aerial-writing tasks on a whiteboard, revealing accuracy in the order of millimetres.
en_US
dc.language.iso
en
en_US
dc.publisher
Robotics: Science and Systems Foundation
en_US
dc.title
Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing
en_US
dc.type
Conference Paper
ethz.book.title
Proceedings of Robotics: Science and Systems XVI
en_US
ethz.size
10 p.
en_US
ethz.event
16th Conference on Robotics: Science and Systems (RSS 2020) (virtual)
en_US
ethz.event.location
Corvalis, OR, USA
en_US
ethz.event.date
July 12-16, 2020
en_US
ethz.notes
Due to the Coronavirus (COVID-19) the conference was conducted virtually.
en_US
ethz.identifier.wos
ethz.publication.place
s.l.
en_US
ethz.publication.status
published
en_US
ethz.identifier.url
http://www.roboticsproceedings.org/rss16/p046.html
ethz.date.deposited
2020-10-14T04:08:09Z
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2020-10-21T13:51:18Z
ethz.rosetta.lastUpdated
2020-10-21T13:51:18Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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