End-Effector Contact Force Estimation for Aerial Manipulators

Conference paper (2022)

Authors

C. Della Santina Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Copyright: © 2022 A. Bredenbeck, C. Della Santina, S. Hamaza
Soft robotics Aerial robotics Aerial manipulation Aerial physical interaction
More Info
expand_more

Published Date

2022

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

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.

Files

Publications.pdf
(.pdf | 0.631 Mb)