Turning a near-hovering controlled quadrotor into a 3D force effector

Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich H. Bulthoff, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

48 Scopus citations

Abstract

In this paper the problem of a quadrotor that physically interacts with the surrounding environment through a rigid tool is considered. We present a theoretical design that allows to exert an arbitrary 3D force by using a standard near-hovering controller that was originally developed for contact-free flight control. This is achieved by analytically solving the nonlinear system that relates the quadrotor state, the force exerted by the rigid tool on the environment, and the near-hovering controller action at the equilibrium points, during any generic contact. Stability of the equilibria for the most relevant actions (pushing, releasing, lifting, dropping, and left-right shifting) are proven by means of numerical analysis using the indirect Lyapunov method. An experimental platform, including a suitable tool design, has been developed and used to validate the theory with preliminary experiments.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6278-6284
Number of pages7
ISBN (Electronic)9781479936854, 9781479936854
DOIs
StatePublished - 22 Sep 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 31 May 20147 Jun 2014

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/TerritoryChina
CityHong Kong
Period31/05/147/06/14

Fingerprint

Dive into the research topics of 'Turning a near-hovering controlled quadrotor into a 3D force effector'. Together they form a unique fingerprint.

Cite this