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A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Abstract : In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Servoing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.
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https://hal.archives-ouvertes.fr/hal-03327702
Contributor : Gianluca Corsini Connect in order to contact the contributor
Submitted on : Friday, August 27, 2021 - 2:07:59 PM
Last modification on : Tuesday, October 19, 2021 - 11:18:14 PM

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  • HAL Id : hal-03327702, version 1

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Gianluca Corsini, Martin Jacquet, Antonio Enrique Jimenez-Cano, Amr Afifi, Daniel Sidobre, et al.. A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles. The 1st AIRPHARO Workshop on Aerial Robotic Systems Physically Interacting with the Environment, Oct 2021, Biograd na Moru, Croatia. ⟨hal-03327702⟩

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