TY - GEN
T1 - 2D Contour Following with an Unmanned Aerial Manipulator
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
AU - Hamaza, Salua
AU - Georgilas, Ioannis
AU - Richardson, Thomas
PY - 2019/11
Y1 - 2019/11
N2 - In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the first step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual SLAM. Key results show that the energy-based approach can be used to apply a continuous shear force through the manipulator while the vehicle remains in contact with the surface of interest. Results also show the robustness and repeatability of this approach for prolonged aerial interaction, and the potential for future use in more complex, un-modeled environments.
AB - In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the first step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual SLAM. Key results show that the energy-based approach can be used to apply a continuous shear force through the manipulator while the vehicle remains in contact with the surface of interest. Results also show the robustness and repeatability of this approach for prolonged aerial interaction, and the potential for future use in more complex, un-modeled environments.
UR - http://www.scopus.com/inward/record.url?scp=85081161188&partnerID=8YFLogxK
U2 - 10.1109/IROS40897.2019.8968591
DO - 10.1109/IROS40897.2019.8968591
M3 - Chapter in a published conference proceeding
AN - SCOPUS:85081161188
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3664
EP - 3669
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - IEEE
Y2 - 3 November 2019 through 8 November 2019
ER -