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External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots

Tomic, Teodor and Ott, Christian and Haddadin, Sami (2017) External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots. IEEE Transactions on Robotics, 33 (6), pp. 1467-1482. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/TRO.2017.2750703. ISSN 1552-3098.

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Official URL: https://ieeexplore.ieee.org/document/8059847


Flying in unknown environments may lead to unforeseen collisions, which may cause serious damage to the robot and/or its environment. In this context, fast and robust collision detection combined with safe reaction is, therefore, essential and may be achieved using external wrench information. Also, deliberate physical interaction requires a control loop designed for such a purpose and may require knowledge of the contact wrench. In principle, the external wrench may be measured or estimated. Whereas measurement poses large demands on sensor equipment, additional weight, and overall system robustness, in this paper we present a novel model-based method for external wrench estimation in flying robots. The algorithm is based on the onboard inertial measurement unit and the robot's dynamics model only. We design admittance and impedance controllers that use this estimate for sensitive and robust physical interaction. Furthermore, the performance of several collision detection and reaction schemes is investigated in order to ensure collision safety. The identified collision location and associated normal vector located on the robot's convex hull may then be used for sensorless tactile sensing. Finally, a low-level collision reflex layer is provided for flying robots when obstacle avoidance fails, also under wind influence. Our experimental and simulation results show evidence that the methodologies are easily implemented and effective in practice.

Item URL in elib:https://elib.dlr.de/192579/
Document Type:Article
Title:External Wrench Estimation, Collision Detection, and Reflex Reaction for Flying Robots
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Tomic, TeodorUNSPECIFIEDhttps://orcid.org/0000-0002-8460-7568UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Haddadin, SamiUNSPECIFIEDhttps://orcid.org/0000-0001-7696-4955UNSPECIFIED
Date:5 October 2017
Journal or Publication Title:IEEE Transactions on Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1467-1482
Publisher:IEEE - Institute of Electrical and Electronics Engineers
Keywords:Collision detection, flying robots, interaction control, reflex reaction
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Planetary Exploration, R - Multisensory World Modelling (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Strobl, Dr. Klaus H.
Deposited On:19 Dec 2022 07:32
Last Modified:19 Dec 2022 07:32

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