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dc.contributor.author
Tognon, Marco
dc.contributor.author
Alami, Rachid
dc.contributor.author
Siciliano, Bruno
dc.date.accessioned
2021-06-18T09:46:26Z
dc.date.available
2021-06-18T03:45:56Z
dc.date.available
2021-06-18T09:46:26Z
dc.date.issued
2021-06
dc.identifier.issn
1552-3098
dc.identifier.issn
1042-296X
dc.identifier.issn
1941-0468
dc.identifier.other
10.1109/TRO.2020.3038700
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/490235
dc.description.abstract
Today, physical human-robot interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, aerial physical interaction is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach with a controller, inspired by the literature on flexible manipulators, that computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to nonidealities like model and tracking errors, additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem
en_US
dc.type
Journal Article
ethz.journal.title
IEEE Transactions on Robotics
ethz.journal.volume
37
en_US
ethz.journal.issue
3
en_US
ethz.journal.abbreviated
IEEE trans. robot.
ethz.pages.start
723
en_US
ethz.pages.end
734
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New York, NY
en_US
ethz.date.deposited
2021-06-18T03:45:58Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-06-18T09:46:32Z
ethz.rosetta.lastUpdated
2021-06-18T09:46:32Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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