Interaction control of an UAV endowed with a manipulator

Jasper L.J. Scholten; Matteo Fumagalli; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/ICRA.2013.6631278

Interaction control of an UAV endowed with a manipulator

Jasper L.J. Scholten, Matteo Fumagalli, Stefano Stramigioli, Raffaella Carloni

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

78 Citations (Scopus)

Abstract

In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment. The goal of this work is to show that the interaction control allows the manipulator to track a desired force, normal to a vertical wall, while still maintaining the possibility of moving on the wall. The control strategy has been implemented and validated in simulations and experiments on the manipulator standalone, i.e., attached to a fixed base, and on the manipulator attached to the aerial vehicle.

Original language	English
Title of host publication	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Number of pages	6
Publication date	2013
Pages	4910-4915
Article number	6631278
ISBN (Print)	9781467356411
DOIs	https://doi.org/10.1109/ICRA.2013.6631278
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany Duration: 6 May 2013 → 10 May 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Country/Territory	Germany
City	Karlsruhe
Period	06/05/2013 → 10/05/2013

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title = "Interaction control of an UAV endowed with a manipulator",

abstract = "In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment. The goal of this work is to show that the interaction control allows the manipulator to track a desired force, normal to a vertical wall, while still maintaining the possibility of moving on the wall. The control strategy has been implemented and validated in simulations and experiments on the manipulator standalone, i.e., attached to a fixed base, and on the manipulator attached to the aerial vehicle.",

author = "Scholten, {Jasper L.J.} and Matteo Fumagalli and Stefano Stramigioli and Raffaella Carloni",

year = "2013",

doi = "10.1109/ICRA.2013.6631278",

language = "English",

isbn = "9781467356411",

pages = "4910--4915",

booktitle = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013",

note = "2013 IEEE International Conference on Robotics and Automation, ICRA 2013 ; Conference date: 06-05-2013 Through 10-05-2013",

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Scholten, JLJ, Fumagalli, M, Stramigioli, S & Carloni, R 2013, Interaction control of an UAV endowed with a manipulator. in 2013 IEEE International Conference on Robotics and Automation, ICRA 2013., 6631278, pp. 4910-4915, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013, Karlsruhe, Germany, 06/05/2013. https://doi.org/10.1109/ICRA.2013.6631278

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AU - Carloni, Raffaella

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AB - In this paper, we present the design, simulation and experimental validation of a control architecture for an unmanned aerial vehicle endowed with a manipulation system and interacting with a remote environment. The goal of this work is to show that the interaction control allows the manipulator to track a desired force, normal to a vertical wall, while still maintaining the possibility of moving on the wall. The control strategy has been implemented and validated in simulations and experiments on the manipulator standalone, i.e., attached to a fixed base, and on the manipulator attached to the aerial vehicle.

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M3 - Article in proceeding

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T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013

Y2 - 6 May 2013 through 10 May 2013

ER -

Interaction control of an UAV endowed with a manipulator

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