TY - GEN
T1 - Simultaneous estimation of aerodynamic and contact forces in flying robots
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
AU - Tomić, Teodor
AU - Haddadin, Sami
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - In this paper, we extend our previous external wrench estimation scheme for flying robots with an aerodynamic model such that we are able to simultaneously estimate aerodynamic and contact forces online. This information can be used to identify the metric wind velocity vector via model inversion. Noticeably, we are still able to accurately sense collision forces at the same time. Discrimination between the two is achieved by identifying the natural contact frequency characteristics for both 'interaction cases'. This information is then used to design suitable filters that are able to separate the aerodynamic from the collision forces for subsequent use. Now, the flying system is able to correctly respond to typical contact forces and does not accidentally 'hallucinate' contacts due to a misinterpretation of wind disturbances. Overall, this paper generalizes our previous results towards significantly more complex environments.
AB - In this paper, we extend our previous external wrench estimation scheme for flying robots with an aerodynamic model such that we are able to simultaneously estimate aerodynamic and contact forces online. This information can be used to identify the metric wind velocity vector via model inversion. Noticeably, we are still able to accurately sense collision forces at the same time. Discrimination between the two is achieved by identifying the natural contact frequency characteristics for both 'interaction cases'. This information is then used to design suitable filters that are able to separate the aerodynamic from the collision forces for subsequent use. Now, the flying system is able to correctly respond to typical contact forces and does not accidentally 'hallucinate' contacts due to a misinterpretation of wind disturbances. Overall, this paper generalizes our previous results towards significantly more complex environments.
UR - http://www.scopus.com/inward/record.url?scp=84938267966&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139937
DO - 10.1109/ICRA.2015.7139937
M3 - Conference contribution
AN - SCOPUS:84938267966
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5290
EP - 5296
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 26 May 2015 through 30 May 2015
ER -