A modified impedance control for physical interaction of UAVs

Matteo Fumagalli, Raffaella Carloni

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

    11 Citations (Scopus)

    Abstract

    This paper proposes a modified impedance control strategy for a generic robotic system that can interact with an unknown environment or can be moved by a human. The controller makes use of a virtual mass, coupled to the robotic system, which allows for stable interaction. The focus is mainly on unmanned aerial vehicles that are required to get into contact with the environment to perform a specific task on it and that can be shifted by humans. The control architecture is validated both in simulations, on a 1-dimensional benchmark, and in experiments on a real quadrotor flying vehicle.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1979-1984
    Number of pages6
    DOIs
    Publication statusPublished - Nov 2013
    Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan
    Duration: 3 Nov 20137 Nov 2013
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

    Publication series

    Name
    ISSN (Print)2153-0858

    Conference

    Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
    Abbreviated titleIROS
    CountryJapan
    CityTokyo
    Period3/11/137/11/13
    Internet address

    Keywords

    • METIS-300262
    • EWI-24212

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