A control architecture for physical human-UAV interaction with a fully actuated hexarotor

Sujit Rajappa; Heinrich H. Bulthoff; Marcin Odelga; Paolo Stegagno

doi:10.1109/IROS.2017.8206332

A control architecture for physical human-UAV interaction with a fully actuated hexarotor

Sujit Rajappa, Heinrich H. Bulthoff, Marcin Odelga, Paolo Stegagno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Citations (Scopus)

Abstract

Physical human-UAV interaction (PHUI) with Unmanned Aerial Vehicles (UAV) has many possible applications, and a few recent works [1], [2] have shown that it is possible to perform PHUI with a standard quadrotor. However, the intrinsic underactuation of quadrotors may hinder the interaction task and also cause safety issues. In this paper, we present an admittance control-based scheme to perform PHUI with a fully actuated UAV. The system also benefits from the robustness provided by our fully actuated UAV implementation of the adaptive super twisting controller (ASTC). While validating our system in simulation, we also show the superior performance of the fully actuated UAV with respect to a standard quadcopter.

Original language	English
Title of host publication	IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4618-4625
Number of pages	8
ISBN (Electronic)	9781538626825
DOIs	https://doi.org/10.1109/IROS.2017.8206332
Publication status	Published - 2017 Dec 13
Event	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada Duration: 2017 Sept 24 → 2017 Sept 28

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2017-September
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Other

Other	2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/Territory	Canada
City	Vancouver
Period	17/9/24 → 17/9/28

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2017.8206332

Cite this

Rajappa, S., Bulthoff, H. H., Odelga, M., & Stegagno, P. (2017). A control architecture for physical human-UAV interaction with a fully actuated hexarotor. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4618-4625). Article 8206332 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8206332

A control architecture for physical human-UAV interaction with a fully actuated hexarotor. / Rajappa, Sujit; Bulthoff, Heinrich H.; Odelga, Marcin et al.
IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 4618-4625 8206332 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2017-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rajappa, S, Bulthoff, HH, Odelga, M & Stegagno, P 2017, A control architecture for physical human-UAV interaction with a fully actuated hexarotor. in IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems., 8206332, IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, Institute of Electrical and Electronics Engineers Inc., pp. 4618-4625, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, Canada, 17/9/24. https://doi.org/10.1109/IROS.2017.8206332

Rajappa S, Bulthoff HH, Odelga M, Stegagno P. A control architecture for physical human-UAV interaction with a fully actuated hexarotor. In IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 4618-4625. 8206332. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2017.8206332

Rajappa, Sujit ; Bulthoff, Heinrich H. ; Odelga, Marcin et al. / A control architecture for physical human-UAV interaction with a fully actuated hexarotor. IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 4618-4625 (IEEE International Conference on Intelligent Robots and Systems).

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A control architecture for physical human-UAV interaction with a fully actuated hexarotor

Abstract

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ASJC Scopus subject areas

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