Turning a near-hovering controlled quadrotor into a 3D force effector

Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich Bulthoff, Antonio Franchi

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

36 Citations (Scopus)

Abstract

In this paper the problem of a quadrotor that physically interacts with the surrounding environment through a rigid tool is considered. We present a theoretical design that allows to exert an arbitrary 3D force by using a standard near-hovering controller that was originally developed for contact-free flight control. This is achieved by analytically solving the nonlinear system that relates the quadrotor state, the force exerted by the rigid tool on the environment, and the near-hovering controller action at the equilibrium points, during any generic contact. Stability of the equilibria for the most relevant actions (pushing, releasing, lifting, dropping, and left-right shifting) are proven by means of numerical analysis using the indirect Lyapunov method. An experimental platform, including a suitable tool design, has been developed and used to validate the theory with preliminary experiments.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages6278-6284
Number of pages7
DOIs
Publication statusPublished - 2014 Sep 22
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: 2014 May 312014 Jun 7

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
CountryChina
CityHong Kong
Period14/5/3114/6/7

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Gioioso, G., Ryll, M., Prattichizzo, D., Bulthoff, H., & Franchi, A. (2014). Turning a near-hovering controlled quadrotor into a 3D force effector. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 6278-6284). [6907785] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907785