Aerial Manipulation Using Hybrid Force and Position NMPC Applied to Aerial Writing

Dimos Tzoumanikas, Felix Graule, Qingyue Yan, Dhruv Shah, Marija Popović, Stefan Leutenegger

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

26 Zitate (Scopus)

Abstract

Aerial manipulation aims at combining the maneuverability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of the two systems. In this paper we present a Nonlinear Model Predictive Control (NMPC) specifically designed for Micro Aerial Vehicles (MAVs) equipped with a robotic arm. We formulate a hybrid control model for the combined MAV-arm system which incorporates interaction forces acting on the end effector. We explain the practical implementation of our algorithm and show extensive experimental results of our custom built system performing multiple ‘aerial-writing’ tasks on a whiteboard, revealing accuracy in the order of millimetres.

OriginalspracheEnglisch
TitelRobotics
UntertitelScience and Systems XVI
Redakteure/-innenMarc Toussaint, Antonio Bicchi, Tucker Hermans
Herausgeber (Verlag)MIT Press Journals
ISBN (Print)9780992374761
DOIs
PublikationsstatusVeröffentlicht - 2020
Extern publiziertJa
Veranstaltung16th Robotics: Science and Systems, RSS 2020 - Virtual, Online
Dauer: 12 Juli 202016 Juli 2020

Publikationsreihe

NameRobotics: Science and Systems
ISSN (elektronisch)2330-765X

Konferenz

Konferenz16th Robotics: Science and Systems, RSS 2020
OrtVirtual, Online
Zeitraum12/07/2016/07/20

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