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Communication Dans Un Congrès Année : 2023

Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned

Résumé

In this work, we present, a first of its kind, physical human-aerial robot interaction (pHARI) experiment, with an articulated aerial manipulator (AM). The robotic platform is a fully-actuated multi-rotor aerial vehicle (MRAV) with fixedly-tilted propellers endowed with a 3degree of freedom (DoF) robotic arm. We implemented a state-of-the-art control architecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The experiments prove the viability of a new use case in aerial robotics, namely pHARI. The experimental results also shed light on the limitations of the current state-of-the-art and provide insights into possible research directions. The video of the experiments, which is available at https://youtu.be/LrQxXbQ5IHc, shows an experiment simulating work at height, where a human manually guides an AM and then attaches a tool to its end effector (EE).
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Dates et versions

hal-04134284 , version 1 (20-06-2023)

Identifiants

Citer

Amr Afifi, Gianluca Corsini, Quentin Sablé, Youssef Aboudorra, Daniel Sidobre, et al.. Physical Human-Aerial Robot Interaction and Collaboration: Exploratory Results and Lessons Learned. The 2023 International Conference on Unmanned Aircraft Systems (ICUAS 2023), Jun 2023, Warsaw, Poland. ⟨10.1109/ICUAS57906.2023.10156609⟩. ⟨hal-04134284⟩
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