An Adaptive-Compliance Manipulator for Contact-Based Aerial Applications

Salua Hamaza, Ioannis Georgilas, Thomas S. Richardson

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

14 Citations (SciVal)
312 Downloads (Pure)


This paper presents simulation and airborne test results for a quadrotor equipped with an actively-variable compliance manipulator for contact interaction. Typical ap- plications of this type of manipulator might include sensor placement operations and non-destructive testing. It is shown that through the use of the proposed manipulator, the force experienced at the end-effector can be adaptively controlled, and the effect of interactions on the aircraft itself minimised. Simulation and airborne results show a consistent correlation between the peak loads experienced at the end-effector and the actuator gains. A lightweight, adaptively-compliant actuator of this type offers the opportunity not only to tailor different demanded forces at the end-effector, but also to shape the loads applied - effects which can be achieved by changing only the software structure and tuning of the actuator control system.
Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Number of pages6
ISBN (Print)9781538618547
Publication statusPublished - 30 Aug 2018

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software


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