Simultaneous estimation of aerodynamic and contact forces in flying robots: Applications to metric wind estimation and collision detection

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2015-June, Issue June, 2015, Pages 5290-5296

  Tomić, Teodor ^a   Haddadin, Sami ^b  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

^b LEIBNIZ UNIVERSITY HANNOVER   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

AERODYNAMICS; AGRICULTURAL ROBOTS; ROBOTICS;

AERODYNAMIC MODELING; COLLISION DETECTION; COLLISION FORCES; COMPLEX ENVIRONMENTS; CONTACT FREQUENCY; ESTIMATION SCHEMES; SIMULTANEOUS ESTIMATION; WIND DISTURBANCE;

ROBOTS;

EID: 84938267966     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2015.7139937     Document Type: Conference Paper

References (18)

1. T. Tomíc and S. Haddadin, "A Unified Framework for External Wrench Estimation, Interaction Control and Collision Reflexes for Flying Robots," in IROS 2014, Chicago, IL, USA, September 2014.
2. S. L. Waslander and C. Wang, "Wind disturbance estimation and rejection for quadrotor position control," in AIAA Infotech@Aerospace Conference, Seattle, WA, USA, April 6-9 2009.
3. P. Martin and E. Salaun, "The true role of accelerometer feedback in quadrotor control," in Robotics and Automation (ICRA), 2010 IEEE International Conference on, May 2010, pp. 1623-1629.
4. S. Omari, M.-D. Hua, G. Ducard, and T. Hamel, "Nonlinear control of vtol uavs incorporating flapping dynamics," in IROS 2013, Tokyo, Japan, November 2013, pp. 2419-2425.
5. F. Ruggiero, J. Cacace, H. Sadeghian, and V. Lippiello, "Impedance Control of VToL UAVs with a Momentum-based External Generalized Forces Estimator," in ICRA 2014, Hong Kong, China, June 2014, pp. 2093-2099.
6. B. Yüksel, C. Secchi, H. H. Buelthoff, and A. Franchi, "A nonlinear force observer for quadrotors and application to physical interactive tasks," in Advanced Intelligent Mechatronics, IEEE/ASME International Conference on 2014, Besançon, France, July 8-11 2014.
7. H. Huang, G. M. Hoffmann, S. L. Waslander, and C. J. Tomlin, "Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering," in ICRA 2009, Kobe, Japan, May 12-17 2009, pp. 3277-3282.
8. M. Bangura and R. Mahony, "Nonlinear dynamic modeling for high performance control of a quadrotor," in Australasian Conference on Robotics and Automation, Proceedings of, Wellington, New Zealand, Dec 3-5 2012.
9. M. Bangura, H. Lim, H. J. Kim, and R. Mahony, "Aerodynamic Power Control for Multirotor Aerial Vehicles," in ICRA 2014, Hong Kong, China, June 2014, pp. 529-536.
10. J. Escareño, S. Salazar, H. Romero, and R. Lozano, "Trajectory control of a quadrotor subject to 2d wind disturbances," J. Intell. Robotics Syst., vol. 70, no. 1-4, pp. 51-63, Apr. 2013. [Online]. Available: http://dx. doi. org/10. 1007/s10846-012-9734-1
11. F. Schiano, J. Alonso-Mora, K. Rudin, P. Beardsley, R. Siegwart, and B. Siciliano, "Towards estimation and correction of wind effects on a quadrotor uav," in International Micro Aerial Vehicle Conference (IMAV), Delft, Netherlands, August 12-15 2014.
12. D. Abeywardena, Z. Wang, G. Dissanayake, S. L. Waslander, and S. Kodagoda, "Model-aided state estimation for quadrotor micro air vehicles amidst wind disturbances," in IROS 2014. Chicago, IL, USA: IEEE/RSJ, Sep 14-18 2014, pp. 4813-4818.
13. J. G. Leishman, Principles of Helicopter Aerodynamics, 2nd ed., ser. Cambridge Aerospace Series. Cambridge University Press, 2006.
14. J. Brandt and M. Selig, "Propeller performance data at low reynolds numbers," in 49th AIAA Aerospace Sciences Meeting, Orlando, FL, January 2011.
15. S. Omari, M.-D. Hua, G. Ducard, and T. Hamel, "Hardware and software architecture for nonlinear control of multirotor helicopters," Mechatronics, IEEE/ASME Transactions on, vol. 18, no. 6, pp. 1724-1736, Dec 2013.
16. T. Tomíc, "Evaluation of acceleration-based disturbance observation for multicopter control," in Control Conference (ECC), 2014 European, June 2014, pp. 2937-2944.
17. D. T. McRuer, D. Graham, and I. Ashkenas, Aircraft Dynamics and Automatic Control. Princeton, NJ, USA: Princeton University Press, 1972.
18. N. Diolaiti, C. Melchiorri, and S. Stramigioli, "Contact impedance estimation for robotic systems," Robotics, IEEE Transactions on, vol. 21, no. 5, pp. 925-935, 2005.