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Title:

A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots

Document type:
Konferenzbeitrag
Author(s):
Tomic, T.; Haddadin, S.
Abstract:
Flying in unknown environments can lead to unwanted collisions with the environment. If not being accounted for, these may cause serious damage to the robot and/or its environment. Fast and robust collision detection combined with safe reaction is therefore essential in this context. Deliberate physical interaction may also be required in some applications. The robot can then switch into an interaction mode when contact occurs. The control loop must also be designed with interaction in mind. To...     »
Keywords:
aerospace robotics; collision avoidance; control system synthesis; mechanoception; robot dynamics; sensors; admittance controller design; collision location determination; collision reflexes; collision safety; environmental interaction forces; external wrench estimation; fast collision detection; flying robots; impedance controller design; interaction control; model-based method; proprioceptive sensors; robot dynamics model; robot geometric model; robust collision detection; robust physical inte...     »
Book / Congress title:
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Year:
2014
Month:
Sept
Pages:
4197-4204
Fulltext / DOI:
doi:10.1109/IROS.2014.6943154
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