Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits

Amr Afifi, Mark van Holland, Antonio Franchi

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

10 Citations (Scopus)
89 Downloads (Pure)

Abstract

In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interaction supervisor to automatically shape the compliance based on the interaction regions defined around the human co-worker; a projected gradient redundancy resolution scheme to exploit the multiple degrees of freedom of the aerial robot to accommodate for possible additional secondary tasks; and a quadratic programming optimization-based inner loop to cope with real world input saturation and increase the safety level of the human co-worker. The control framework is demonstrated and validated through numerical simulations with a human-in-the loop.
Original languageEnglish
Title of host publication2022 International Conference on Robotics and Automation (ICRA)
PublisherIEEE
Pages4855-4861
Number of pages7
ISBN (Electronic)978-1-7281-9681-7
ISBN (Print)978-1-7281-9682-4
DOIs
Publication statusPublished - 27 May 2022
Event39th IEEE International Conference on Robotics and Automation, ICRA 2022 - Philadelphia, PA, USA, Philadelphia, United States
Duration: 23 May 202227 May 2022
Conference number: 39

Conference

Conference39th IEEE International Conference on Robotics and Automation, ICRA 2022
Abbreviated titleICRA 2022
Country/TerritoryUnited States
CityPhiladelphia
Period23/05/2227/05/22

Keywords

  • Torque
  • Trajectory tracking
  • Redundancy
  • Human-robot interaction
  • Prototypes
  • Aerospace electronics
  • Manipulators
  • 2023 OA procedure

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