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• W4381551112 abstract "In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedly-tilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://youtu.be/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually guides an AM and then attaches a tool to its end effector (EE)." @default.
• W4381551112 created "2023-06-22" @default.
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• W4381551112 date "2023-06-06" @default.
• W4381551112 modified "2023-10-14" @default.
• W4381551112 title "Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned" @default.
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• W4381551112 doi "https://doi.org/10.1109/icuas57906.2023.10156609" @default.
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