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

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.
Document type :
Conference papers
Complete list of metadatas

Cited literature [14 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01083777
Contributor : Antonio Franchi <>
Submitted on : Tuesday, November 18, 2014 - 1:50:06 AM
Last modification on : Monday, June 24, 2019 - 10:22:03 AM
Long-term archiving on : Thursday, February 19, 2015 - 2:55:58 PM

File

2014b-GioRylPraBueFra-preprint...
Files produced by the author(s)

Identifiers

Citation

Guido Gioioso, Markus Ryll, Domenico Prattichizzo, Heinrich H. Bülthoff, Antonio Franchi. Turning a near-hovering controlled quadrotor into a 3D force effector. IEEE Int. Conf. on Robotics and Automation (ICRA 2014), May 2014, Hong Kong, China. pp.6278 - 6284, ⟨10.1109/ICRA.2014.6907785⟩. ⟨hal-01083777⟩

Share

Metrics

Record views

449

Files downloads

340