Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

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

Goioso, G., Ryll, M., Prattichizzo, D., Bülthoff, H., & Franchi, A. (2014). Turning a near-hovering controlled quadrotor into a 3D force effector. In IEEE International Conference on Robotics and Automation (ICRA 2014) (pp. 6278-6284). Piscataway, NJ, USA: IEEE.

Item is

Externe Referenzen

einblenden:
ausblenden:
Beschreibung:
-
OA-Status:

Urheber

einblenden:
ausblenden:
 Urheber:
Goioso, Guido, Autor           
Ryll, M1, 2, Autor           
Prattichizzo, D, Autor
Bülthoff, HH1, 2, Autor           
Franchi, A, Autor           
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: 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.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2014-06
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/ICRA.2014.6907785
BibTex Citekey: GioiosoRPBF2014
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: IEEE International Conference on Robotics and Automation (ICRA 2014)
Veranstaltungsort: Hong Kong, China
Start-/Enddatum: -

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: IEEE International Conference on Robotics and Automation (ICRA 2014)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 6278 - 6284 Identifikator: ISBN: 978-1-4799-3684-7