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Inspection for structural properties (surface stiffness and coefficient ofrestitution) is crucial for understanding and performing aerial manipulationsin unknown environments, with little to no prior knowledge on their state.Inspection-on-the-fly is the uncanny ability of humans to infer states duringmanipulation, reducing the necessity to perform inspection and manipulationseparately. This paper presents an infrastructure for inspection-on-the-flymethod for aerial manipulators using hybrid physical interaction control. Withthe proposed method, structural properties (surface stiffness and coefficientof restitution) can be estimated during physical interactions. A three-stagehybrid physical interaction control paradigm is presented to robustly approach,acquire and impart a desired force signature onto a surface. This is achievedby combining a hybrid force/motion controller with a model-based feed-forwardimpact control as intermediate phase. The proposed controller ensures a steadytransition from unconstrained motion control to constrained force control,while reducing the lag associated with the force control phase. And anunderlying Operational Space dynamic configuration manager permits complex,redundant vehicle/arm combinations. Experiments were carried out in a mock-upof a Dept. of Energy exhaust shaft, to show the effectiveness of theinspection-on-the-fly method to determine the structural properties of thetarget surface and the performance of the hybrid physical interactioncontroller in reducing the lag associated with force control phase.

Inspection-on-the-fly using Hybrid Physical Interaction Control for Aerial Manipulators