Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

C. Gabellieri; M. Tognon; D. Sanalitro; A. Franchi

doi:10.1109/IROS55552.2023.10342240

Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

C. Gabellieri
, M. Tognon
, D. Sanalitro
, A. Franchi

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

7 Citations (Scopus)

207 Downloads (Pure)

Abstract

This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Pages	6920-6926
Number of pages	7
ISBN (Electronic)	978-1-6654-9190-7
DOIs	https://doi.org/10.1109/IROS55552.2023.10342240
Publication status	Published - 13 Dec 2023
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Huntington Place, Detroit, United States Duration: 1 Oct 2023 → 5 Oct 2023 https://ieee-iros.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Abbreviated title	IROS 2023
Country/Territory	United States
City	Detroit
Period	1/10/23 → 5/10/23
Internet address	https://ieee-iros.org/

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10.1109/IROS55552.2023.10342240

Article ProofAccepted author version, 1.62 MB

Cite this

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title = "Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias",

abstract = "This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.",

author = "C. Gabellieri and M. Tognon and D. Sanalitro and A. Franchi",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, IROS 2023 ; Conference date: 01-10-2023 Through 05-10-2023",

year = "2023",

month = dec,

day = "13",

doi = "10.1109/IROS55552.2023.10342240",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "6920--6926",

booktitle = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

url = "https://ieee-iros.org/",

}

Gabellieri, C, Tognon, M, Sanalitro, D & Franchi, A 2023, Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 6920-6926, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, Michigan, United States, 1/10/23. https://doi.org/10.1109/IROS55552.2023.10342240

Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias. / Gabellieri, C.; Tognon, M.; Sanalitro, D. et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2023. p. 6920-6926 (IEEE International Conference on Intelligent Robots and Systems).

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

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T1 - Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

AU - Gabellieri, C.

AU - Tognon, M.

AU - Sanalitro, D.

AU - Franchi, A.

PY - 2023/12/13

Y1 - 2023/12/13

N2 - This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.

AB - This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an internal force in the load augments the robustness of the load attitude error and its sensitivity to force-bias variations. Eventually, we propose a method for zeroing the load position error. The results are validated through numerical simulations and experiments.

UR - https://www.scopus.com/pages/publications/85182525497

U2 - 10.1109/IROS55552.2023.10342240

DO - 10.1109/IROS55552.2023.10342240

M3 - Conference contribution

AN - SCOPUS:85182525497

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 6920

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BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - IEEE

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023

Y2 - 1 October 2023 through 5 October 2023

ER -

Force-based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias

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