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 language | Undefined |
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Title of host publication | Proceedings of the IEEE International Conference on Intelligent Robots and Systems |
Place of Publication | USA |
Publisher | IEEE |
Pages | 3435-3440 |
Number of pages | 6 |
ISBN (Print) | 978-1-4799-6934-0 |
DOIs | |
Publication status | Published - Sept 2014 |
Event | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014 http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html |
Conference
Conference | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 |
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Abbreviated title | IROS |
Country/Territory | United States |
City | Chicago |
Period | 14/09/14 → 18/09/14 |
Internet address |
Keywords
- METIS-309635
- EWI-25250