Variable impedance control for aerial interaction

A.Y. Mersha; Stefano Stramigioli; Raffaella Carloni

doi:10.1109/IROS.2014.6943041

Variable impedance control for aerial interaction

A.Y. Mersha, Stefano Stramigioli, Raffaella Carloni

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

19 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 language	Undefined
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	https://doi.org/10.1109/IROS.2014.6943041
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
Abbreviated title	IROS
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14
Internet address	http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2014/www.iros2014.org/index.html

Keywords

METIS-309635
EWI-25250

Access to Document

10.1109/IROS.2014.6943041

Cite this

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title = "Variable impedance control for aerial interaction",

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.",

keywords = "METIS-309635, EWI-25250",

author = "A.Y. Mersha and Stefano Stramigioli and Raffaella Carloni",

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year = "2014",

month = sep,

doi = "10.1109/IROS.2014.6943041",

language = "Undefined",

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booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems",

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Mersha, AY, Stramigioli, S & Carloni, R 2014, Variable impedance control for aerial interaction. in Proceedings of the IEEE International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 3435-3440, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, Illinois, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943041

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T1 - Variable impedance control for aerial interaction

AU - Mersha, A.Y.

AU - Stramigioli, Stefano

AU - Carloni, Raffaella

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PY - 2014/9

Y1 - 2014/9

N2 - 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.

AB - 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.

KW - METIS-309635

KW - EWI-25250

U2 - 10.1109/IROS.2014.6943041

DO - 10.1109/IROS.2014.6943041

M3 - Conference contribution

SN - 978-1-4799-6934-0

SP - 3435

EP - 3440

BT - Proceedings of the IEEE International Conference on Intelligent Robots and Systems

PB - IEEE

CY - USA

T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

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