Hybrid force/motion control and internal dynamics of quadrotors for tool operation

Nguyen, Hai-Nguyen; Lee, Dongjun

doi:10.1109/iros.2013.6696849

Cited by 28 publications

(10 citation statements)

References 21 publications

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“…Albert Albers et al started a study in 2010 for quadrotor UAVs for high-altitude cleaning tasks [3], by vertically mounting an additional rotor to provide thrust against the wall. Dongjun Lee et al studies the use of quadrotor UAVs to operate lightweight rigid tools such as screwdrivers, the position-tracking control of the end of the tool and rotation control of the tool [4]. Paper [5] presents a hybrid pose/wrench control framework that allows the quadrotor to directly contact the environment and maintain stable motion upon contact.…”

Section: Related Workmentioning

confidence: 99%

The Flying and Adhesion Robot Based on Approach and Vacuum

et al. 2022

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The conventional flying and adhesion robot adsorbs on the wall by controlling the attitude angle to generate a horizontal-direction force combined with the negative-pressure device at the target position. However, when the robot is in contact with the wall, the wall will generate reaction forces and tilting moments on the robot, which increases the complexity of modeling and controlling the adsorption process. Therefore, inspired by perching mechanisms that geckos and tree frogs can use to jump and adsorb to vertical surfaces such as tree trunks, we propose a natural method based on approach adsorption. The method uses a suitable approaching velocity to achieve stable adsorption at the desired position. We investigate the effects of approach velocity, vacuum-pump flow rate and wall material on the adsorption performance. Furthermore, we design a unidirectional-approach-adsorption system and heading controller and establish a contact and negative-pressure model. The relevant parameters of the adsorption system are identified, and the ground-collision experiments and flight experiments for the flying and adhesion robot were carried out to validate the proposed method.

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Section: Related Workmentioning

confidence: 99%

The Flying and Adhesion Robot Based on Approach and Vacuum

et al. 2022

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“…Briod et al [9] use contact sensors and onboard accelerometers to exploit contacts with the environment and autonomously navigate like insects. These techniques require a robust mechanical frame that is also optimized for sensor placement to recognize collisions in any direction [10,11]. As an alternative, researchers are exploring external wrench estimation methods to accurately determine collision for subsequent interaction control [12].…”

Section: Introductionmentioning

confidence: 99%

Collision Recovery Control of a Foldable Quadrotor

Patnaik,

Mishra,

Chase

et al. 2021

Preprint

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Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial missions is desirable to prevent loss of the vehicle and/or payload. We address this problem by proposing a novel foldable quadrotor system which can sustain collisions and recover safely. The quadrotor is designed with integrated mechanical compliance using a torsional spring such that the impact time is increased and the net impact force on the main body is decreased. The post-collision dynamics is analysed and a recovery controller is proposed which stabilizes the system to a hovering location without additional collisions. Flight test results on the proposed and a conventional quadrotor demonstrate that for the former, integrated spring-damper characteristics reduce the rebound velocity and lead to simple recovery control algorithms in the event of unintended collisions as compared to a rigid quadrotor of the same dimension.

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“…Bellens et al (2012) investigated the problem of estimating the external wrench in the context of a hybrid pose/wrench control for a contact maintenance task. A force sensor was used as an estimator by Nguyen and Lee (2013). An alternative Lyapunov-based nonlinear observer for estimating the external wrench has been proposed by Yüksel et al (2014) and numerically validated.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of a novel architecture for physical human-UAV interaction

Rajappa

Bülthoff

Stegagno

2017

The International Journal of Robotics Research

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Interaction between humans and unmanned aerial vehicles is a promising field for future applications. However, current interfacing paradigms either imply the presence of intermediary hardware as monitors, joysticks and haptic devices, or are limited to visual/auditory channels with hand gestures, voice recognition, or interpretation of face poses and body postures. Another paradigm, physical human–robot interaction, which is based on mutual exchange of forces, is popular when dealing with robotic arms and humanoids, while unmanned aerial vehicles are usually considered too dangerous and lack proper interaction surfaces to exchange forces. In this paper, we address the problem of physical human–unmanned aerial vehicle interaction and we propose a straightforward approach to allow a human to intuitively command an unmanned aerial vehicle through exchanges of forces. Using a residual based estimator, we estimate the external forces and torques acting on the unmanned aerial vehicle. Through the employment of a sensor ring, we are able to separate the human interaction forces from additional disturbances as wind and parameter uncertainties. This knowledge is used inside a control framework where the human is allowed to change the desired trajectory by simply applying forces on the unmanned aerial vehicle. The system is validated with multiple hardware-in-the-loop simulations and experiments in which we try different interaction modalities.

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Hybrid force/motion control and internal dynamics of quadrotors for tool operation

Cited by 28 publications

References 21 publications

The Flying and Adhesion Robot Based on Approach and Vacuum

The Flying and Adhesion Robot Based on Approach and Vacuum

Collision Recovery Control of a Foldable Quadrotor

Design and implementation of a novel architecture for physical human-UAV interaction

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