English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Although manipulation capabilities of aerial robots greatly improved in thelast decade, only few works addressed the problem of aerial physicalinteraction with dynamic environments, proposing strongly model-basedapproaches. However, in real scenarios, modeling the environment with highaccuracy is often impossible. In this work we aim at developing a controlframework for OMAVs for reliable physical interaction tasks with articulatedand movable objects in the presence of possibly unforeseen disturbances, andwithout relying on an accurate model of the environment. Inspired by previousapplications of energy-based controllers for physical interaction, we propose apassivity-based impedance and wrench tracking controller in combination with amomentum-based wrench estimator. This is combined with an energy-tank frameworkto guarantee the stability of the system, while energy and power flow-basedadaptation policies are deployed to enable safe interaction with any type ofpassive environment. The control framework provides formal guarantees ofstability, which is validated in practice considering the challenging task ofpushing a cart of unknown mass, moving on a surface of unknown friction, aswell as subjected to unknown disturbances. For this scenario, we present,evaluate and discuss three different policies.

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects