High risk of a collision between rotor blades and the obstacles in a complex environment imposes ... more High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an ... more We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multi-rotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in R^3×SO(3) (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actu...
A class of abstract aerial robotic systems is introduced, the Laterally Bounded Force (LBF) vehic... more A class of abstract aerial robotic systems is introduced, the Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while along the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with non-collinear rotors that can modify the orientation of the total thrust in body frame. The proposed SE(3)-based control strategy achieves, if made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both underand fully-actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented, that clearly show the approach practicability and the sharp improvement with respect to state of-the-art.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
The integration of computer vision techniques for the accomplishment of autonomous interaction ta... more The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected. Combining these results with previous work on energy-based interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor interacting with heterogeneous curved surfaces whose geometric description is not available a pr...
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) fram... more In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maximum speeds and accelerations. The formulation is meant to be generic and considers a large range of multi-rotor platforms (such as underactuated quadrotors or tilted-propellers hexarotors) since it does not rely on differential flatness for the dynamical equations, and a broad range of sensors, such as cameras, lidars, etc…. The perceptive constraints are expressed to maintain visibility of a feature point in the sensor’s field of view, while performing a reference maneuver. We demonstrate both in simulation and real experiments that our framework is able to exploit the full capabilities of the multi-rotor, to achieve the motion under the aforementioned constraints, and control in real-tim...
We introduce a control strategy for fully-actuated aerial vehicles to independently track traject... more We introduce a control strategy for fully-actuated aerial vehicles to independently track trajectories in position and orientation. The technique is suited for platforms endowed with non-coplanar or vectoring-thrust rotors that change the orientation of the total thrust w.r.t. the body frame, thus achieving a complete exploitation of the 6 DoFs of the rigid body in 3D space. We introduce a new class of abstract aerial systems named Laterally Bounded Fully-Actuated vehicles (LBFA), in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a typically weaker force can be exploited to achieve full-pose tracking. LBFA systems naturally generalize underactuated aerial vehicles. We propose a geometric control for LBFAs that, once limited the set of admissible exerted forces within reasonable constraints, naturally extends the geometric control on SE(3) for underactuated aerial vehicles. The exponential tracking of a feasible fu...
In this paper we propose, test, and validate an online Nonlinear Model Predictive Control (NMPC) ... more In this paper we propose, test, and validate an online Nonlinear Model Predictive Control (NMPC) method applied to multi-rotor aerial systems with arbitrarily positioned and oriented rotors. This work brings into question some common modeling and control design choices that are typically adopted in order to guarantee robustness and reliability but which may severely limit the attainable performance. In particular the proposed method \emph{does not} resort to common simplifications such as: 1) linear model approximation, 2) cascaded control paradigm used to decouple the translational and the rotational dynamics of the rigid body, and 3) use of low level reactive trackers for stabilization, 4) unconstrained system or use of fictitious constraints. The method addresses simultaneously the problem of local reference trajectory planning and that of stabilizing the vehicle dynamics. Furthermore, by considering as control inputs the derivatives of the forces generated by the multi-rotor veh...
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an ... more We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multirotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in R 3 ×SO(3) (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally we present a large set of experimental results shading light on all aspects of the control and pose tracking of FAST-Hex.
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor... more This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a ...
2018 IEEE International Conference on Robotics and Automation (ICRA)
This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex ... more This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously ti... more In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously tilted about two orthogonal axes: in this way, its underactuation degree can be easily adapted to the task at hand. For a given tilt profile, the minimum-energy trajectory between two prescribed boundary states is explicitly determined by solving an optimal control problem with respect to the angular accelerations of the six brushless motors. We also perform, for the first time, a systematic study of the singularities of the control allocation matrix of the hexarotor, showing the presence of subtle singular configurations that should be carefully avoided in the design phase. Numerical experiments conducted with the FAST-Hex platform illustrate the theory and delineate the pros and cons of dual-tilting paradigm in terms of maneuverability and energy efficiency.
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NM... more In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference trajectory planning and tracking problems. This work brings into question some common modeling and control design choices that are typically adopted to guarantee robustness and reliability but which may severely limit the attainable performance. Unlike most of state of the art works, the proposed method takes advantages of a unified nonlinear model which aims to describe the whole robot dynamics by explicitly including a realistic physical description of the actuator dynamics and limitations. As a matter of fact, our solution does not resort to common simplifications such as: (1) linear model approximation, (2) cascaded control paradigm used to decouple the translational and the rotational dynamics of the rigid body, (3) use of low-level reactive tr...
2019 International Conference on Robotics and Automation (ICRA), May 1, 2019
High risk of a collision between rotor blades and the obstacles in a complex environment imposes ... more High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.
This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the... more This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common directio...
This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing r... more This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able to control the full 6D pose (position and orientation independently) and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector. Interaction is achieved by means of an admittance control scheme in which an outer loop control governs the desired admittance behavior (i.e., interaction compliance/stiffness, damping, and mass) and an inner loop based on inverse dynamics ensures full 6D pose tracking. The interaction forces are estimated by an inertial measurement unit (IMU)-enhanced momentum-based observer. An extensive experimental campaign is performed and four case studies are reported: a hard touch and slide on a wooden surface, called the sliding surface task; a tilted peg-in-hole ta...
High risk of a collision between rotor blades and the obstacles in a complex environment imposes ... more High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an ... more We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multi-rotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in R^3×SO(3) (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actu...
A class of abstract aerial robotic systems is introduced, the Laterally Bounded Force (LBF) vehic... more A class of abstract aerial robotic systems is introduced, the Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while along the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with non-collinear rotors that can modify the orientation of the total thrust in body frame. The proposed SE(3)-based control strategy achieves, if made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both underand fully-actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented, that clearly show the approach practicability and the sharp improvement with respect to state of-the-art.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020
The integration of computer vision techniques for the accomplishment of autonomous interaction ta... more The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected. Combining these results with previous work on energy-based interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor interacting with heterogeneous curved surfaces whose geometric description is not available a pr...
2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) fram... more In this paper, we present a Perception-constrained Nonlinear Model Predictive Control (NMPC) framework for the real-time control of multi-rotor aerial vehicles. Our formulation considers both constraints from a perceptive sensor and realistic actuator limitations that are the rotor minimum and maximum speeds and accelerations. The formulation is meant to be generic and considers a large range of multi-rotor platforms (such as underactuated quadrotors or tilted-propellers hexarotors) since it does not rely on differential flatness for the dynamical equations, and a broad range of sensors, such as cameras, lidars, etc…. The perceptive constraints are expressed to maintain visibility of a feature point in the sensor’s field of view, while performing a reference maneuver. We demonstrate both in simulation and real experiments that our framework is able to exploit the full capabilities of the multi-rotor, to achieve the motion under the aforementioned constraints, and control in real-tim...
We introduce a control strategy for fully-actuated aerial vehicles to independently track traject... more We introduce a control strategy for fully-actuated aerial vehicles to independently track trajectories in position and orientation. The technique is suited for platforms endowed with non-coplanar or vectoring-thrust rotors that change the orientation of the total thrust w.r.t. the body frame, thus achieving a complete exploitation of the 6 DoFs of the rigid body in 3D space. We introduce a new class of abstract aerial systems named Laterally Bounded Fully-Actuated vehicles (LBFA), in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a typically weaker force can be exploited to achieve full-pose tracking. LBFA systems naturally generalize underactuated aerial vehicles. We propose a geometric control for LBFAs that, once limited the set of admissible exerted forces within reasonable constraints, naturally extends the geometric control on SE(3) for underactuated aerial vehicles. The exponential tracking of a feasible fu...
In this paper we propose, test, and validate an online Nonlinear Model Predictive Control (NMPC) ... more In this paper we propose, test, and validate an online Nonlinear Model Predictive Control (NMPC) method applied to multi-rotor aerial systems with arbitrarily positioned and oriented rotors. This work brings into question some common modeling and control design choices that are typically adopted in order to guarantee robustness and reliability but which may severely limit the attainable performance. In particular the proposed method \emph{does not} resort to common simplifications such as: 1) linear model approximation, 2) cascaded control paradigm used to decouple the translational and the rotational dynamics of the rigid body, and 3) use of low level reactive trackers for stabilization, 4) unconstrained system or use of fictitious constraints. The method addresses simultaneously the problem of local reference trajectory planning and that of stabilizing the vehicle dynamics. Furthermore, by considering as control inputs the derivatives of the forces generated by the multi-rotor veh...
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an ... more We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The FAST-Hex adapts its configuration between the more efficient but under-actuated, collinear multi-rotors and the less efficient, but full-pose-tracking, which is attained by non-collinear multirotors. On the basis of prior work on minimal input configurable micro aerial vehicle we mainly stress three aspects: mechanical design, motion control and experimental validation. Specifically, we present the lightweight mechanical structure of the FAST-Hex that allows it to only use one additional input to achieve configurability and full actuation in a vast state space. The motion controller receives as input any reference pose in R 3 ×SO(3) (3D position + 3D orientation). Full pose tracking is achieved if the reference pose is feasible with respect to actuator constraints. In case of unfeasibility a new feasible desired trajectory is generated online giving priority to the position tracking over the orientation tracking. Finally we present a large set of experimental results shading light on all aspects of the control and pose tracking of FAST-Hex.
This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor... more This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping the contact, we use a parallel position/force control method, commensurate to the system dynamics and constraints in which using the compliant structure of the end-effector the rotational degrees of freedom are also utilized to attain a broader range of feasible forces. In a bilateral teleoperation framework, the proposed control method regulates the aerial manipulator position in free flight and the applied force in contact interaction. On the master side, the human operator is provided with force haptic feedback to enhance his/her situational awareness. The validity of the theory and efficacy of the solution are shown by experimental results. This control architecture, integrated with a ...
2018 IEEE International Conference on Robotics and Automation (ICRA)
This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex ... more This paper presents the OTHex platform for aerial manipulation developed at LAAS-CNRS. The OTHex is probably the first multi-directional thrust platform designed to act as Flying Assistant which can aid human operators and/or Ground Manipulators to move long bars for assembly and maintenance tasks. The work emphasis is on task-driven custom design and experimental validations. The proposed control framework is built around a low-level geometric controller, and includes an external wrench estimator, an admittance filter, and a trajectory generator. This tool gives the system the necessary compliance to resist external force disturbances arising from contact with the surrounding environment or to parameter uncertainties in the load. A set of experiments validates the real-world applicability and robustness of the overall system.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously ti... more In this paper, we consider a non-conventional hexarotor whose propellers can be simultaneously tilted about two orthogonal axes: in this way, its underactuation degree can be easily adapted to the task at hand. For a given tilt profile, the minimum-energy trajectory between two prescribed boundary states is explicitly determined by solving an optimal control problem with respect to the angular accelerations of the six brushless motors. We also perform, for the first time, a systematic study of the singularities of the control allocation matrix of the hexarotor, showing the presence of subtle singular configurations that should be carefully avoided in the design phase. Numerical experiments conducted with the FAST-Hex platform illustrate the theory and delineate the pros and cons of dual-tilting paradigm in terms of maneuverability and energy efficiency.
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NM... more In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference trajectory planning and tracking problems. This work brings into question some common modeling and control design choices that are typically adopted to guarantee robustness and reliability but which may severely limit the attainable performance. Unlike most of state of the art works, the proposed method takes advantages of a unified nonlinear model which aims to describe the whole robot dynamics by explicitly including a realistic physical description of the actuator dynamics and limitations. As a matter of fact, our solution does not resort to common simplifications such as: (1) linear model approximation, (2) cascaded control paradigm used to decouple the translational and the rotational dynamics of the rigid body, (3) use of low-level reactive tr...
2019 International Conference on Robotics and Automation (ICRA), May 1, 2019
High risk of a collision between rotor blades and the obstacles in a complex environment imposes ... more High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.
This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the... more This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common directio...
This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing r... more This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able to control the full 6D pose (position and orientation independently) and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector. Interaction is achieved by means of an admittance control scheme in which an outer loop control governs the desired admittance behavior (i.e., interaction compliance/stiffness, damping, and mass) and an inner loop based on inverse dynamics ensures full 6D pose tracking. The interaction forces are estimated by an inertial measurement unit (IMU)-enhanced momentum-based observer. An extensive experimental campaign is performed and four case studies are reported: a hard touch and slide on a wooden surface, called the sliding surface task; a tilted peg-in-hole ta...
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Papers by Davide Bicego