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.

Gioioso, G., Ryll, M., Prattichizzo, D., Bulthoff, H.H., Franchi, A. (2014). Turning a near-hovering controlled quadrotor into a 3D force effector. In 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (pp.6278-6284). New York : IEEE [10.1109/ICRA.2014.6907785].

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

Gioioso, Guido;Prattichizzo, Domenico;
2014-01-01

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.
978-1-4799-3685-4
Gioioso, G., Ryll, M., Prattichizzo, D., Bulthoff, H.H., Franchi, A. (2014). Turning a near-hovering controlled quadrotor into a 3D force effector. In 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (pp.6278-6284). New York : IEEE [10.1109/ICRA.2014.6907785].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/953843