Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Amr Afifi, Gianluca Corsini, Quentin Louis Gustave Sablé, Youssef Aboudorra, Daniel Sidobre, Antonio Franchi

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

2 Citations (Scopus)
116 Downloads (Pure)

Abstract

In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedly-tilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://youtu.be/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually
guides an AM and then attaches a tool to its end effector (EE).
Original languageEnglish
Title of host publication2023 International Conference on Unmanned Aircraft Systems (ICUAS)
PublisherIEEE
Pages956-962
Number of pages7
ISBN (Electronic)979-8-3503-1037-5
ISBN (Print)979-8-3503-1038-2
DOIs
Publication statusPublished - 26 Jun 2023
EventInternational Conference on Unmanned Aircraft Systems, IUCAS 2023 - Lazarski University, Warsaw, Poland
Duration: 6 Jun 20239 Jun 2023

Conference

ConferenceInternational Conference on Unmanned Aircraft Systems, IUCAS 2023
Abbreviated titleIUCAS'23
Country/TerritoryPoland
CityWarsaw
Period6/06/239/06/23

Keywords

  • Propellers
  • Collaboration
  • Observers
  • Autonomous aerial vehicles
  • End effectors
  • Feedback linearization
  • Admittance

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