Journal
IEEE TRANSACTIONS ON ROBOTICS
Volume 37, Issue 3, Pages 709-722Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2020.3036623
Keywords
Force; Inspection; Rotors; Impedance; Force control; Surface impedance; Robot sensing systems; Aerial interaction; force control; fully actuated; inspection; MAV; omnidirectional; planning
Categories
Funding
- ETH Research Grants
- National Center of Competence in Research (NCCR) on Digital Fabrication
- NCCR Robotics
- Armasuisse Science and Technology
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This article introduces and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, aiming to conduct aerial contact inspection in unstructured environments. Experiments demonstrate the system's ability to reject disturbances, perform push-and-slide interactions, and control forces in different flight orientations. The system is validated as a tool for nondestructive testing of concrete infrastructure, with statistical results presented and discussed regarding interaction control performance.
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.
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