Abstract
This paper proposes a modified impedance control strategy for a generic robotic system that can interact with an unknown environment or can be moved by a human. The controller makes use of a virtual mass, coupled to the robotic system, which allows for stable interaction. The focus is mainly on unmanned aerial vehicles that are required to get into contact with the environment to perform a specific task on it and that can be shifted by humans. The control architecture is validated both in simulations, on a 1-dimensional benchmark, and in experiments on a real quadrotor flying vehicle.
| Original language | English |
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| Title of host publication | IROS 2013 : New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems |
| Number of pages | 6 |
| Publication date | 2013 |
| Pages | 1979-1984 |
| Article number | 6696619 |
| ISBN (Print) | 9781467363587 |
| DOIs | |
| Publication status | Published - 2013 |
| Event | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 8 Nov 2013 |
Conference
| Conference | 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 |
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| Country/Territory | Japan |
| City | Tokyo |
| Period | 03/11/2013 → 08/11/2013 |
| Sponsor | IEEE Robotics and Automation Society (RAS), IEEE Industrial Electronics Society (IES), The Robotics Society of Japan (RSJ), The Society of Instrument and Control Engineers (SICE), New Technology Foundation (NTF) |