A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects
Abstract
While the variety of applications for Aerial Manipulators (AMs) has increased over the last years, they are mostly limited to push-and-slide tasks. More complex manipulations of dynamic environments are poorly addressed and still require handcrafted designs of hardware, control, and trajectory planning. In this paper we focus on the active manipulation of articulated objects with AMs. We present a novel planning and control approach that allows the AM to execute complex interaction maneuvers with as little as possible priors given by the operator.
Our framework combines sampling-based predictive control to generate pose trajectories with an impedance controller for compliant behaviours, applied to a fully-actuated flying platform.
The framework leverages a physics engine to simulate the dynamics of the platform and the environment in order to find optimal motions to execute manipulation tasks.
Experiments on two selected examples of pulling open a door and of turning a valve show the feasibility of the proposed approach. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000561730Publication status
publishedExternal links
Journal / series
IEEE Robotics and Automation LettersVolume
Pages / Article No.
Publisher
IEEESubject
Aerial Interaction; Robotics; Manipulation; Predictive ControlOrganisational unit
03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
02284 - NFS Digitale Fabrikation / NCCR Digital Fabrication
Funding
-- - NCCR Digital Fabrication (SNF)
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