A control architecture for physical human-UAV interaction with a fully actuated hexarotor

Sujit Rajappa, Heinrich Bulthoff, Marcin Odelga, Paolo Stegagno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Physical human-UAV interaction (PHUI) with Unmanned Aerial Vehicles (UAV) has many possible applications, and a few recent works [1], [2] have shown that it is possible to perform PHUI with a standard quadrotor. However, the intrinsic underactuation of quadrotors may hinder the interaction task and also cause safety issues. In this paper, we present an admittance control-based scheme to perform PHUI with a fully actuated UAV. The system also benefits from the robustness provided by our fully actuated UAV implementation of the adaptive super twisting controller (ASTC). While validating our system in simulation, we also show the superior performance of the fully actuated UAV with respect to a standard quadcopter.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4618-4625
Number of pages8
Volume2017-September
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Externally publishedYes
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

Fingerprint

Unmanned aerial vehicles (UAV)
Controllers

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Rajappa, S., Bulthoff, H., Odelga, M., & Stegagno, P. (2017). A control architecture for physical human-UAV interaction with a fully actuated hexarotor. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (Vol. 2017-September, pp. 4618-4625). [8206332] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206332

A control architecture for physical human-UAV interaction with a fully actuated hexarotor. / Rajappa, Sujit; Bulthoff, Heinrich; Odelga, Marcin; Stegagno, Paolo.

IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. p. 4618-4625 8206332.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Rajappa, S, Bulthoff, H, Odelga, M & Stegagno, P 2017, A control architecture for physical human-UAV interaction with a fully actuated hexarotor. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. vol. 2017-September, 8206332, Institute of Electrical and Electronics Engineers Inc., pp. 4618-4625, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8206332
Rajappa S, Bulthoff H, Odelga M, Stegagno P. A control architecture for physical human-UAV interaction with a fully actuated hexarotor. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4618-4625. 8206332 https://doi.org/10.1109/IROS.2017.8206332
Rajappa, Sujit ; Bulthoff, Heinrich ; Odelga, Marcin ; Stegagno, Paolo. / A control architecture for physical human-UAV interaction with a fully actuated hexarotor. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol. 2017-September Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4618-4625
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