Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
Zur Ablage hinzufügen
 Lokale TagsFreigabegeschichteDetailsÜbersicht
  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.

Item is

 

einblenden: alle ausblenden: alle

Basisdaten

einblenden: ausblenden:
Datensatz-Permalink: https://hdl.handle.net/21.11116/0000-0000-C385-D Versions-Permalink: https://hdl.handle.net/21.11116/0000-0006-BDEF-9
Genre: Konferenzbeitrag

Externe Referenzen

einblenden:
ausblenden:
externe Referenz:
Link (beliebiger Volltext)
Beschreibung:
-
OA-Status:

Urheber

einblenden:
ausblenden:
 Urheber:
Rajappa, S1, 2, 3, Autor           
Bülthoff, HH1, 2, 4, Autor           
Odelga, M1, 2, 3, Autor           
Stegagno, P1, 2, 3, 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, ou_1497794              
3Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
4Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528701              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: 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.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2017-09
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/IROS.2017.8206332
BibTex Citekey: RajappaBOS2017
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Veranstaltungsort: Vancouver, BC, Canada
Start-/Enddatum: 2017-09-24 - 2017-09-28

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 4618 - 4625 Identifikator: ISBN: 978-1-5386-2682-5