A modified impedance control for physical interaction of UAVs

Matteo Fumagalli; Raffaella Carloni

doi:10.1109/IROS.2013.6696619

A modified impedance control for physical interaction of UAVs

Matteo Fumagalli, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

17 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 language	Undefined
Title of host publication	Proceedings of the IEEE International Conference on Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE Robotics and Automation Society
Pages	1979-1984
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2013.6696619
Publication status	Published - Nov 2013
Event	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan Duration: 3 Nov 2013 → 7 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

Conference	2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
Abbreviated title	IROS
Country/Territory	Japan
City	Tokyo
Period	3/11/13 → 7/11/13
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

Keywords

METIS-300262
EWI-24212

Access to Document

10.1109/IROS.2013.6696619

Cite this

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title = "A modified impedance control for physical interaction of UAVs",

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.",

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year = "2013",

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Fumagalli, M & Carloni, R 2013, A modified impedance control for physical interaction of UAVs. in Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE Robotics and Automation Society, USA, pp. 1979-1984, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 3/11/13. https://doi.org/10.1109/IROS.2013.6696619

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AB - 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.

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