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dc.contributor.author
Bodie, Karen
dc.contributor.author
Brunner, Maximilian
dc.contributor.author
Pantic, Michael
dc.contributor.author
Walser, Stefan
dc.contributor.author
Pfändler, Patrick
dc.contributor.author
Angst, Ueli
dc.contributor.author
Siegwart, Roland
dc.contributor.author
Nieto, Juan
dc.date.accessioned
2021-06-18T11:18:41Z
dc.date.available
2021-06-18T03:46:01Z
dc.date.available
2021-06-18T11:18:41Z
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.2020.3036623
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/490236
dc.description.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.
en_US
dc.language.iso
en
en_US
dc.publisher
IEEE
en_US
dc.title
Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle
en_US
dc.type
Journal Article
dc.date.published
2020-12-15
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
709
en_US
ethz.pages.end
722
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New York, NY
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2021-06-18T03:46:06Z
ethz.source
SCOPUS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-06-18T11:18:49Z
ethz.rosetta.lastUpdated
2021-06-18T11:18:49Z
ethz.rosetta.exportRequired
true
ethz.rosetta.versionExported
true
ethz.COinS
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