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A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots

Tomić, Teodor and Haddadin, Sami (2014) A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4197-4204. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 14-18 Sep 2014, Chicago, IL, USA. DOI: 10.1109/IROS.2014.6943154

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6943154

Abstract

Flying in unknown environments can lead to unwanted collisions with the environment. If not being accounted for, these may cause serious damage to the robot and/or its environment. Fast and robust collision detection combined with safe reaction is therefore essential in this context. Deliberate physical interaction may also be required in some applications. The robot can then switch into an interaction mode when contact occurs. The control loop must also be designed with interaction in mind. To implement these mechanisms, knowledge of environmental interaction forces is required. In principle, they may be measured or estimated. In this paper, we present a novel model-based method for external wrench estimation in flying robots. The estimation is based on proprioceptive sensors and the robot’s dynamics model only. Using this estimate, we also design admittance and impedance controllers for sensitive and robust physical interaction. We also investigate the performance of our collision detection and reaction schemes in order to guarantee collision safety. Upon collision, we determine the collision location and normal located on the robot’s geometric model. The method relies on the complete wrench information provided by our scheme. This allows applications such as tactile environment mapping.

Item URL in elib:https://elib.dlr.de/90222/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:14 September 2014
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
DOI :10.1109/IROS.2014.6943154
Page Range:pp. 4197-4204
Status:Published
Keywords:quadrotor, collision detection
Event Title:2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Chicago, IL, USA
Event Type:international Conference
Event Dates:14-18 Sep 2014
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Tomic, Teodor
Deposited On:03 Sep 2014 11:34
Last Modified:31 Jul 2019 19:47

Available Versions of this Item

  • A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots. (deposited 03 Sep 2014 11:34) [Currently Displayed]

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