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  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.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0027-80AE-C Version Permalink: http://hdl.handle.net/21.11116/0000-0001-2D3F-8
Genre: Conference Paper

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 Creators:
Goioso, Guido, Author              
Ryll, M1, 2, Author              
Prattichizzo, D, Author
Bülthoff, HH1, 2, Author              
Franchi, A, Author              
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              

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 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.

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 Dates: 2014-06
 Publication Status: Published in print
 Pages: -
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 Rev. Method: -
 Identifiers: DOI: 10.1109/ICRA.2014.6907785
BibTex Citekey: GioiosoRPBF2014
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Title: IEEE International Conference on Robotics and Automation (ICRA 2014)
Place of Event: Hong Kong, China
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Title: IEEE International Conference on Robotics and Automation (ICRA 2014)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 6278 - 6284 Identifier: ISBN: 978-1-4799-3684-7