Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle
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Date
2021-06Type
- Journal Article
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Cited 23 times in
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Cited 22 times in
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Abstract
This article presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a variable axis-selective impedance control which integrates direct force control for intentional interaction, using feedback from an on-board force sensor. The control approach aims to reject disturbances in free flight, while handling unintentional interaction and actively controlling desired interaction forces. A fully actuated and omnidirectional tilt-rotor aerial system is used to show capabilities of the control and planning methods. Experiments demonstrate disturbance rejection, push-and-slide interaction, and force-controlled interaction in different flight orientations. The system is validated as a tool for nondestructive testing of concrete infrastructure, and statistical results of interaction control performance are presented and discussed. Show more
Publication status
publishedExternal links
Journal / series
IEEE Transactions on RoboticsVolume
Pages / Article No.
Publisher
IEEEOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
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Show all metadata
Citations
Cited 23 times in
Web of Science
Cited 22 times in
Scopus
ETH Bibliography
yes
Altmetrics