Abstract
This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geometric control, and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector using an admittance control paradigm. An outer loop control governs the desired admittance behavior and an inner loop based on geometric control ensures pose tracking. The interaction forces are estimated by a momentum based observer. Control and observation are made possible by a precise control and measurement of the speed of each propeller. An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.
Original language | English |
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Title of host publication | 2017 IEEE International Conference on Robotics and Automation (ICRA) |
Place of Publication | Piscataway, NJ |
Publisher | IEEE |
Pages | 5190-5195 |
Number of pages | 6 |
ISBN (Electronic) | 978-1-5090-4633-1 |
ISBN (Print) | 978-1-5090-4634-8 |
DOIs | |
Publication status | Published - 21 Jul 2017 |
Externally published | Yes |
Event | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore Duration: 29 May 2017 → 3 Jun 2017 http://www.icra2017.org/ |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation (ICRA) |
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Publisher | IEEE |
Volume | 2017 |
ISSN (Print) | 1050-4729 |
Conference
Conference | 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 |
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Abbreviated title | ICRA 2017 |
Country/Territory | Singapore |
City | Singapore |
Period | 29/05/17 → 3/06/17 |
Internet address |