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dc.contributor.author
Brunner, Maximilian
dc.contributor.author
Giacomini, Livio
dc.contributor.author
Siegwart, Roland Y.
dc.contributor.author
Tognon, Marco
dc.date.accessioned
2022-06-20T12:47:27Z
dc.date.available
2022-03-07T15:19:09Z
dc.date.available
2022-03-08T05:17:04Z
dc.date.available
2022-06-20T12:47:27Z
dc.date.issued
2022-05-23
dc.identifier.uri
http://hdl.handle.net/20.500.11850/535918
dc.identifier.doi
10.3929/ethz-b-000535918
dc.description.abstract
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work, we aim at developing a control framework for OMAV for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment. Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator. This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment. The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances. For this scenario, we present, evaluate and discuss three different policies.
en_US
dc.format
application/pdf
en_US
dc.language.iso
en
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
Aerial manipulation
en_US
dc.subject
Aerial robotics
en_US
dc.subject
Aerial robots
en_US
dc.subject
Passivity
en_US
dc.subject
Passivity-based control
en_US
dc.subject
passivity
en_US
dc.title
Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
en_US
dc.type
Conference Paper
dc.rights.license
In Copyright - Non-Commercial Use Permitted
ethz.size
7 p. accepted version
en_US
ethz.version.deposit
acceptedVersion
en_US
ethz.event
IEEE International Conference on Robotics and Automation (ICRA 2022)
en_US
ethz.event.location
Philadelphia, PA, USA
en_US
ethz.event.date
May 23–27, 2022
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
en_US
ethz.date.deposited
2022-03-07T15:19:14Z
ethz.source
FORM
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.exportRequired
true
ethz.COinS
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