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

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/persons/resource/persons192849

Rajappa,  S
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons83839

Bülthoff,  HH
Project group: Cybernetics Approach to Perception & Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons192619

Odelga,  M
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

/persons/resource/persons133440

Stegagno,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: https://hdl.handle.net/21.11116/0000-0000-C385-D
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.