Variable impedance control for aerial interaction

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

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

    12 Citations (Scopus)

    Abstract

    This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aerial robot as well as the interaction force, when in contact. This work finds its way in various applications where different impedance and interaction force controllers provide high task performances as well as safety. The feasibility and effectiveness of the proposed controller are demonstrated by experimental results preformed on a quadrotor aerial robot.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages3435-3440
    Number of pages6
    ISBN (Print)978-1-4799-6934-0
    DOIs
    Publication statusPublished - Sep 2014
    Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
    Duration: 14 Sep 201418 Sep 2014
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

    Conference

    Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
    Abbreviated titleIROS
    CountryUnited States
    CityChicago
    Period14/09/1418/09/14
    Internet address

    Keywords

    • METIS-309635
    • EWI-25250

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