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Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection

Tomić, Teodor and Haddadin, Sami (2015) Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection. In: IEEE International Conference on Robotics and Automation (ICRA). IEEE/RSJ International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA, USA.

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Abstract

In this paper, we extend our previous external wrench estimation scheme for flying robots with an aerodynamic model such that we are able to simultaneously estimate aerodynamic and contact forces online. This information can be used to identify the metric wind velocity vector via model inversion. Noticeably, we are still able to accurately sense collision forces at the same time. Discrimination between the two is achieved by identifying the natural contact frequency characteristics for both ”interaction cases”. This information is then used to design suitable filters that are able to separate the aerodynamic from the collision forces for subsequent use. Now, the flying system is able to correctly respond to contact forces and does not accidentally ”hallucinate” contacts due to a misinterpretation of wind disturbances. Overall, this paper generalizes our previous results towards significantly more complex environments.

Item URL in elib:https://elib.dlr.de/96710/
Document Type:Conference or Workshop Item (Other)
Title:Simultaneous Estimation of Aerodynamic and Contact Forces in Flying Robots: Applications to Metric Wind Estimation and Collision Detection
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tomić, Teodorteodor.tomic (at) dlr.deUNSPECIFIED
Haddadin, Samisami.haddadin (at) irt.uni-hannover.deUNSPECIFIED
Date:26 May 2015
Journal or Publication Title:IEEE International Conference on Robotics and Automation (ICRA)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:aerial robots, UAV, collision detection, wind estimation
Event Title:IEEE/RSJ International Conference on Robotics and Automation (ICRA)
Event Location:Seattle, WA, USA
Event Type:international Conference
Event Dates:26-30 May 2015
Organizer:IEEE/RSJ
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 Multisensorielle Weltmodellierung
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:17 Jun 2015 15:52
Last Modified:09 Feb 2017 19:21

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