6D interaction control with aerial robots: The flying end-effector paradigm. Ryll, M., Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D., & Franchi, A. International Journal of Robotics Research, 2019.
doi  abstract   bibtex   
© The Author(s) 2019.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 task, i.e., the insertion of the end-effector in a tilted funnel; an admittance shaping experiment in which it is shown how the stiffness, damping, and apparent mass can be modulated at will; and, finally, the fourth experiment is to show the effectiveness of the approach also in the presence of time-varying interaction forces.
@article{Ryll2019,
  author = {Ryll, Markus and Muscio, Giuseppe and Pierri, Francesco and Cataldi, Elisabetta and Antonelli, Gianluca and Caccavale, Fabrizio and Bicego, Davide and Franchi, Antonio},
  title = {6D interaction control with aerial robots: The flying end-effector paradigm},
  journal = {International Journal of Robotics Research},
  volume = {38},
  number = {9},
  doi = {10.1177/0278364919856694},
  issn = {ISSN(print='02783649', electronic='17413176')},
  abstract = {© The Author(s) 2019.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 task, i.e., the insertion of the end-effector in a tilted funnel; an admittance shaping experiment in which it is shown how the stiffness, damping, and apparent mass can be modulated at will; and, finally, the fourth experiment is to show the effectiveness of the approach also in the presence of time-varying interaction forces.},
  year = {2019},
}
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