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• W2954055669 endingPage "1062" @default.
• W2954055669 startingPage "1045" @default.
• W2954055669 abstract "This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able to control the full 6D pose (position and orientation independently) and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector. Interaction is achieved by means of an admittance control scheme in which an outer loop control governs the desired admittance behavior (i.e., interaction compliance/stiffness, damping, and mass) and an inner loop based on inverse dynamics ensures full 6D pose tracking. The interaction forces are estimated by an inertial measurement unit (IMU)-enhanced momentum-based observer. An extensive experimental campaign is performed and four case studies are reported: a hard touch and slide on a wooden surface, called the sliding surface task; a tilted peg-in-hole task, i.e., the insertion of the end-effector in a tilted funnel; an admittance shaping experiment in which it is shown how the stiffness, damping, and apparent mass can be modulated at will; and, finally, the fourth experiment is to show the effectiveness of the approach also in the presence of time-varying interaction forces." @default.
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• W2954055669 date "2019-06-26" @default.
• W2954055669 modified "2023-09-30" @default.
• W2954055669 title "6D interaction control with aerial robots: The flying end-effector paradigm" @default.
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• W2954055669 doi "https://doi.org/10.1177/0278364919856694" @default.
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