Print Email Facebook Twitter End-Effector Contact Force Estimation for Aerial Manipulators Title End-Effector Contact Force Estimation for Aerial Manipulators Author Bredenbeck, A. (TU Delft Control & Simulation) Della Santina, C. (TU Delft Learning & Autonomous Control) Hamaza, S. (TU Delft Control & Simulation) Date 2022 Abstract Unmanned Aerial Vehicles (UAVs) are widely used for environmental surveying and exploration thanks to their maneuverability and accessibility. Until recently, however, these platforms were mainly used as passive systems that observe their environments visually and do not interact physically. The capability of UAVs to physically interact with their environment, also known as Aerial Manipulators (AMs), allows them to do a wider variety of tasks. These tasks include contact inspection, manipulation of objects, and more. To successfully interact with the environment, the AM must compensate for the contact-induced disturbance forces. One approach is to estimate the contact force and compensate for it within the control approach. This work introduces a framework to estimate the contact force at the End-Effector (EE) using only state measurements of the generic AM. Further, the evaluation of the framework in a simulation of an AM with a tendon-driven robotic arm shows that it precisely estimates the contact force. Subject aerial manipulationaerial roboticssoft roboticsaerial physical interaction To reference this document use: http://resolver.tudelft.nl/uuid:fe529348-c7f6-4613-9fd7-9589f9e09ec9 Publisher IEEE Source IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence (MOMA): Challenges and Opportunities Event The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), 2022-10-23 → 2022-10-27, Kyoto, Japan Part of collection Institutional Repository Document type conference paper Rights © 2022 A. Bredenbeck, C. Della Santina, S. Hamaza Files PDF publications.pdf 646.11 KB Close viewer /islandora/object/uuid:fe529348-c7f6-4613-9fd7-9589f9e09ec9/datastream/OBJ/view