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.
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Contributor : Antonio Franchi <>
Submitted on : Tuesday, November 18, 2014 - 1:50:06 AM
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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⟩



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