Application of substantial and sustained force to vertical surfaces using a quadrotor

H. W. Wopereis, J. J. Hoekstra, T. H. Post, G. A. Folkertsma, S. Stramigioli, M. Fumagalli

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

18 Citations (Scopus)
3 Downloads (Pure)

Abstract

In the field of aerial robotics, one of the key challenges is to enable aerial manipulators to exert substantial forces on the environment. Enabling this will allow the technology to perform meaningful tasks airborne, such as cleaning or grinding surfaces. While in contact and applying a large, continuous force, control of the UAV's attitude is a challenge. In this work, we show that a regular (PID-based) attitude controller is incapable of stabilizing aerial manipulators that apply physical contact forces on the environment that are comparable to the UAV's weight. We present a novel control algorithm that uses an LQR-optimized state feedback on the roll and yaw angle while in contact. Experiments on a UAV of 1.5 kg show that the proposed controller is capable of applying a contact force of over 15 N - equal to the UAV's weight - sustained for several minutes.

Original languageEnglish
Title of host publicationICRA 2017 - IEEE International Conference on Robotics and Automation
PublisherIEEE
Pages2704-2709
Number of pages6
ISBN (Electronic)9781509046331
DOIs
Publication statusPublished - 21 Jul 2017
Event2017 IEEE International Conference on Robotics and Automation, ICRA 2017: Innovation, Entrepreneurship, and Real-world Solutions - Singapore, Singapore
Duration: 29 May 20173 Jun 2017
http://www.icra2017.org/

Conference

Conference2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Abbreviated titleICRA 2017
CountrySingapore
CitySingapore
Period29/05/173/06/17
Internet address

Fingerprint

Unmanned aerial vehicles (UAV)
Antennas
Manipulators
Controllers
Force control
State feedback
Cleaning
Robotics
Experiments

Cite this

Wopereis, H. W., Hoekstra, J. J., Post, T. H., Folkertsma, G. A., Stramigioli, S., & Fumagalli, M. (2017). Application of substantial and sustained force to vertical surfaces using a quadrotor. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 2704-2709). [7989314] IEEE. https://doi.org/10.1109/ICRA.2017.7989314
Wopereis, H. W. ; Hoekstra, J. J. ; Post, T. H. ; Folkertsma, G. A. ; Stramigioli, S. ; Fumagalli, M. / Application of substantial and sustained force to vertical surfaces using a quadrotor. ICRA 2017 - IEEE International Conference on Robotics and Automation. IEEE, 2017. pp. 2704-2709
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Wopereis, HW, Hoekstra, JJ, Post, TH, Folkertsma, GA, Stramigioli, S & Fumagalli, M 2017, Application of substantial and sustained force to vertical surfaces using a quadrotor. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989314, IEEE, pp. 2704-2709, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Singapore, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989314

Application of substantial and sustained force to vertical surfaces using a quadrotor. / Wopereis, H. W.; Hoekstra, J. J.; Post, T. H.; Folkertsma, G. A.; Stramigioli, S.; Fumagalli, M.

ICRA 2017 - IEEE International Conference on Robotics and Automation. IEEE, 2017. p. 2704-2709 7989314.

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

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Wopereis HW, Hoekstra JJ, Post TH, Folkertsma GA, Stramigioli S, Fumagalli M. Application of substantial and sustained force to vertical surfaces using a quadrotor. In ICRA 2017 - IEEE International Conference on Robotics and Automation. IEEE. 2017. p. 2704-2709. 7989314 https://doi.org/10.1109/ICRA.2017.7989314