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Article

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

1
Department of Information Engineering and Mathematics, University of Siena, 53100 Siena, Italy
2
Department of Advanced Robotics, Italian Institute of Technology, 16163 Genoa, Italy
3
Robotics and Mechatronics Group, University of Twente, 7522 NH Enschede, The Netherlands
4
LAAS-CNRS, Université de Toulouse, CNRS, 31400 Toulouse, France
*
Author to whom correspondence should be addressed.
This research was partially supported by the European Union’s Horizon 2020 research and innovation program grant agreement ID: 871479 AERIAL-CORE.
Academic Editor: Seong-Ik Han
Appl. Sci. 2021, 11(19), 8955; https://doi.org/10.3390/app11198955
Received: 6 August 2021 / Revised: 17 September 2021 / Accepted: 18 September 2021 / Published: 26 September 2021
(This article belongs to the Special Issue Aerial Robotics for Inspection and Maintenance)
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a suitable perception/localization pipeline, could be used to perform outdoor aerial teleoperation tasks in hazardous and/or remote sites of interest. View Full-Text
Keywords: aerial robotics; aerial manipulation; force control; bilateral teleoperation; haptics; quadrotor aerial robotics; aerial manipulation; force control; bilateral teleoperation; haptics; quadrotor
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MDPI and ACS Style

Mohammadi, M.; Bicego, D.; Franchi, A.; Barcelli, D.; Prattichizzo, D. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control. Appl. Sci. 2021, 11, 8955. https://doi.org/10.3390/app11198955

AMA Style

Mohammadi M, Bicego D, Franchi A, Barcelli D, Prattichizzo D. Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control. Applied Sciences. 2021; 11(19):8955. https://doi.org/10.3390/app11198955

Chicago/Turabian Style

Mohammadi, Mostafa, Davide Bicego, Antonio Franchi, Davide Barcelli, and Domenico Prattichizzo. 2021. "Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control" Applied Sciences 11, no. 19: 8955. https://doi.org/10.3390/app11198955

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