Abstract
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or forces. This letter addresses a more general and dynamic task: simultaneously tracking time-varying contact force in the surface normal direction and motion trajectories on tangential surfaces. We propose a pipeline that includes a contact-aware trajectory planner to generate dynamically feasible trajectories, and a hybrid motion-force controller to track such trajectories. We demonstrate the approach in an aerial calligraphy task using a novel sponge pen design as the end-effector, whose stroke width is positively related to the contact force. Additionally, we develop a touchscreen interface for flexible user input. Experiments show our method can effectively draw diverse letters, achieving an IoU of 0.59 and an end-effector position (force) tracking RMSE of 2.9 cm (0.7N).
Original language | English (US) |
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Pages (from-to) | 11194-11201 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 9 |
Issue number | 12 |
DOIs | |
State | Published - 2024 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence