Can your drone touch? Exploring the boundaries of consumer-grade multirotors for physical interaction

Lassen, P.S.; Fumagalli, Matteo

doi:10.1109/icra46639.2022.9812187

Cited by 6 publications

(1 citation statement)

References 15 publications

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“…In the work by Lassen et al [16], they were among the first to identify an operational envelope, encompassing pitch angle and thrust force parameters, necessary for an underactuated aerial vehicle to maintain stable pushing with a flat vertical surface. In our previous work [5], a static-equilibrium based force modeling approach is presented regarding to pushing on diverse oriented work surfaces.…”

Section: Introductionmentioning

confidence: 99%

Static-Equilibrium Oriented Interaction Force Modeling and Control of Aerial Manipulation with Uni-Directional Thrust Multirotors

Tong

Fumagalli

2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost. Industrial infrastructures often consist of diverse oriented work surfaces. When interacting with such surfaces, the coupled gravity compensation and interaction force generation of underactuated aerial vehicles can present the potential challenge of near-saturation operations. The blind utilization of these platforms for such tasks can lead to instability and accidents, creating unsafe operating conditions and potentially damaging the platform. In order to ensure safe pushing on these surfaces while managing platform saturation, this work establishes a safety assessment process. This process involves the prediction of the saturation level of each actuator during pushing across variable surface orientations. Furthermore, the assessment results are used to plan and execute physical experiments, ensuring safe operations and preventing platform damage.

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Section: Introductionmentioning

confidence: 99%