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  A Control Architecture for Physical Human-UAV Interaction with a Fully Actuated Hexarotor

Rajappa, S., Bülthoff, H., Odelga, M., & Stegagno, P. (2017). A Control Architecture for Physical Human-UAV Interaction with a Fully Actuated Hexarotor. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) (pp. 4618-4625). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/21.11116/0000-0000-C385-D Version Permalink: https://hdl.handle.net/21.11116/0000-0000-C386-C
Genre: Conference Paper

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Rajappa, S1, Author           
Bülthoff, HH1, 2, 3, Author           
Odelga, M1, 3, 4, Author           
Stegagno, P1, 3, 4, Author           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              
3Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
4Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              

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 Abstract: Physical human-UAV interaction (PHUI) with Unmanned Aerial Vehicles (UAV) has many possible applications, and a few recent works 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.

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 Dates: 2017-09
 Publication Status: Issued
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 Identifiers: DOI: 10.1109/IROS.2017.8206332
BibTex Citekey: RajappaBOS2017
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Place of Event: Vancouver, BC, Canada
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4618 - 4625 Identifier: ISBN: 978-1-5386-2682-5