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

doi:10.1109/ICUAS57906.2023.10156609

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 proceeding › Conference contribution › Academic › peer-review

10 Citations (Scopus)

309 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 language	English
Title of host publication	2023 International Conference on Unmanned Aircraft Systems (ICUAS)
Publisher	IEEE
Pages	956-962
Number of pages	7
ISBN (Electronic)	979-8-3503-1037-5
ISBN (Print)	979-8-3503-1038-2
DOIs	https://doi.org/10.1109/ICUAS57906.2023.10156609
Publication status	Published - 26 Jun 2023
Event	International Conference on Unmanned Aircraft Systems, IUCAS 2023 - Lazarski University, Warsaw, Poland Duration: 6 Jun 2023 → 9 Jun 2023

Conference

Conference	International Conference on Unmanned Aircraft Systems, IUCAS 2023
Abbreviated title	IUCAS'23
Country/Territory	Poland
City	Warsaw
Period	6/06/23 → 9/06/23

Keywords

Propellers
Collaboration
Observers
Autonomous aerial vehicles
End effectors
Feedback linearization
Admittance

Access to Document

10.1109/ICUAS57906.2023.10156609

ArticleAccepted author version, 1.09 MB

Cite this

@inproceedings{86d7267164974f689ce85799e893bc48,

title = "Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned",

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).",

keywords = "Propellers, Collaboration, Observers, Autonomous aerial vehicles, End effectors, Feedback linearization, Admittance",

author = "Amr Afifi and Gianluca Corsini and Sabl{\'e}, \{Quentin Louis Gustave\} and Youssef Aboudorra and Daniel Sidobre and Antonio Franchi",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; International Conference on Unmanned Aircraft Systems, IUCAS 2023, IUCAS'23 ; Conference date: 06-06-2023 Through 09-06-2023",

year = "2023",

month = jun,

day = "26",

doi = "10.1109/ICUAS57906.2023.10156609",

language = "English",

isbn = "979-8-3503-1038-2",

pages = "956--962",

booktitle = "2023 International Conference on Unmanned Aircraft Systems (ICUAS)",

publisher = "IEEE",

address = "United States",

}

Afifi, A, Corsini, G, Sablé, QLG, Aboudorra, Y, Sidobre, D & Franchi, A 2023, Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned. in 2023 International Conference on Unmanned Aircraft Systems (ICUAS)., 10156609, IEEE, pp. 956-962, International Conference on Unmanned Aircraft Systems, IUCAS 2023, Warsaw, Poland, 6/06/23. https://doi.org/10.1109/ICUAS57906.2023.10156609

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned. / Afifi, Amr; Corsini, Gianluca; Sablé, Quentin Louis Gustave et al.
2023 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2023. p. 956-962 10156609.

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

TY - GEN

T1 - Physical Human-Aerial Robot Interaction and Collaboration

T2 - International Conference on Unmanned Aircraft Systems, IUCAS 2023

AU - Afifi, Amr

AU - Corsini, Gianluca

AU - Sablé, Quentin Louis Gustave

AU - Aboudorra, Youssef

AU - Sidobre, Daniel

AU - Franchi, Antonio

PY - 2023/6/26

Y1 - 2023/6/26

N2 - 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).

AB - 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).

KW - Propellers

KW - Collaboration

KW - Observers

KW - Autonomous aerial vehicles

KW - End effectors

KW - Feedback linearization

KW - Admittance

U2 - 10.1109/ICUAS57906.2023.10156609

DO - 10.1109/ICUAS57906.2023.10156609

M3 - Conference contribution

SN - 979-8-3503-1038-2

SP - 956

EP - 962

BT - 2023 International Conference on Unmanned Aircraft Systems (ICUAS)

PB - IEEE

Y2 - 6 June 2023 through 9 June 2023

ER -

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

Abstract

Conference

Keywords

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