Towards Vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV

Ramy Rashad, Davide Bicego, Ran Jiao, Santiago Sanchez-Escalonilla, Stefano Stramigioli

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

17 Citations (Scopus)
69 Downloads (Pure)

Abstract

The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected. Combining these results with previous work on energy-based interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor interacting with heterogeneous curved surfaces whose geometric description is not available a priori, provided that enough visual features on the target are naturally or artificially available to allow the integration of localization and mapping algorithms.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1605-1612
Number of pages8
ISBN (Electronic)978-1-7281-6212-6
ISBN (Print)978-1-7281-6213-3
DOIs
Publication statusPublished - 10 Feb 2021
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020: Consumer Robotics and Our Future - On-Demand Conference, Las Vegas, United States
Duration: 25 Oct 202025 Nov 2020
https://www.iros2020.org/index.html

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Volume2020
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Abbreviated titleIROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period25/10/2025/11/20
Internet address

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