A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Corsini, Gianluca; Jacquet, Martin; Jimenez-Cano, Antonio E.; Afifi, Amr; Sidobre, Daniel; Franchi, Antonio

doi:10.1109/airpharo52252.2021.9571053

Cited by 3 publications

(3 citation statements)

References 24 publications

(33 reference statements)

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“…Consequently, given the desired motion, the admittance filter computes a new reference trajectory for the MRAV based on the desired interaction dynamics and the knowledge of the external wrench applied by the human on the robot. Thus, similarly to our previous work [16], the admittance filter is given by…”

Section: Control Architecturementioning

confidence: 84%

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Afifi,

Corsini,

Sable

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedlytilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://youtu.be/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually guides an AM and then attaches a tool to its end effector (EE).

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Section: Control Architecturementioning

confidence: 84%

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Afifi,

Corsini,

Sable

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…In order to account for the force and torque applied on the GTMR body by the weight of the carried object and the physical interaction, we integrate those in the dynamical equation of the GTMR, following the formalism of [13].…”

Section: A Aerial Robot Dynamicsmentioning

confidence: 99%

“…The human hand and the exchanged object must be in the same position to successfully perform the handover. Therefore, substituting ( 14) into (13), and replacing Hs p H h with the position of O expressed in F Hs ( Hs p O ), it results…”

Section: Ergonomicsmentioning

confidence: 99%

Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Corsini

Jacquet

Das

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot.To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to any mobile robot with a minimal adaptation of the robot model. Our formulation lets the NMPC steer the robot toward a handover location optimizing the human coworker ergonomics metrics, which includes the predicted joint torques of the human. The motion task is expressed in a frame relative to the human, whose motion model is included in the equations of the NMPC. This allows the controller to reactively adapt to the human movements by predicting her future poses over the horizon. The control framework also accounts for the problem of maintaining visibility on the human coworker, while respecting both the actuation and state limits. A safety barrier is also embedded in the controller to avoid any risk of collision with the human partner. Realistic simulations are used to validate the feasibility of the approach and the source code of the implementation is released open-source.

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Nonlinear Wrench Observer of an Underactuated Aerial Manipulator

Garrard,

Stoumbos,

Inoyama

et al. 2024

AIAA SCITECH 2024 Forum

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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Cited by 3 publications

References 24 publications

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case

Nonlinear Wrench Observer of an Underactuated Aerial Manipulator

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