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dc.contributor.author
Peric, Lazar
dc.contributor.author
Brunner, Maximilian
dc.contributor.author
Bodie, Karen
dc.contributor.author
Tognon, Marco
dc.contributor.author
Siegwart, Roland
dc.date.accessioned
2021-10-27T09:09:55Z
dc.date.available
2021-03-30T08:57:11Z
dc.date.available
2021-03-30T09:31:43Z
dc.date.available
2021-07-29T10:21:55Z
dc.date.available
2021-10-27T09:09:55Z
dc.date.issued
2021
dc.identifier.isbn
978-1-7281-9077-8
en_US
dc.identifier.isbn
978-1-7281-9078-5
en_US
dc.identifier.other
10.1109/ICRA48506.2021.9561990
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/476947
dc.identifier.doi
10.3929/ethz-b-000476947
dc.description.abstract
In this paper, we present a model predictive controller for a fully actuated aerial manipulator to track a hybrid force and pose trajectory at the end-effector in an aerial interaction task. A force sensor at the end-effector is used to detect contact and to directly control the interaction force. We propose an approach for automatic transition between three operation modes which reflect the state of contact constraints, including free flight and two modes for force control based on static or dynamic friction at the end-effector. This division into three modes allows for different mode-specific controller tunings to optimize the desired performance throughout an interaction task. Results from flight experiments which combine force, position, and attitude tracking, show the performance of the controller in terms of accuracy and precision. The performance is further benchmarked against a hybrid force/impedance controller.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Aerial robotics
en_US
dc.subject
MPC
en_US
dc.subject
Aerial Interaction
en_US
dc.subject
Tiltrotor
en_US
dc.subject
MAV
en_US
dc.title
Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.book.title
2021 IEEE International Conference on Robotics and Automation (ICRA)
en_US
ethz.pages.start
131
en_US
ethz.pages.end
137
en_US
ethz.size
7 p. accepted version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
2021 IEEE International Conference on Robotics and Automation (ICRA 2021)
en_US
ethz.event.location
Xi’an, China
en_US
ethz.event.date
May 30 – June 5, 2021
en_US
ethz.identifier.wos
ethz.publication.place
Piscataway, NJ
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02100 - Dep. Architektur / Dep. of Architecture::02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.date.deposited
2021-03-30T08:57:18Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2021-07-29T10:22:02Z
ethz.rosetta.lastUpdated
2022-03-29T14:45:27Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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