Admittance control for physical human-quadrocopter interaction
Admittance control for physical human-quadrocopter interaction
复制标题
人机四轴飞行器物理交互的准入控制
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
R. D’Andrea
中科院分区：
文献类型：
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作者：
Federico Augugliaro;R. D’Andrea
本文分析了准入控制在四轴飞行器中的应用，重点关注物理人车交互。导纳控制允许用户定义机器人的表观惯性，阻尼和刚度，提供了一种直观的方式来与它进行物理交互。在这项工作中，作用在四轴飞行器上的外力是从位置和姿态信息中估计出来的，然后输入到导纳控制器，从而修改车辆的参考轨迹。参考轨迹由底层位置和姿态控制器跟踪。近悬停情况下的整体控制方案的特点进行了研究。实验结果补充了论文，证明了该方法的适用性物理人四轴飞行器的互动。
This paper analyzes the application of admittance control to quadrocopters, focusing on physical human-vehicle interaction. Admittance control allows users to define the apparent inertia, damping, and stiffness of a robot, providing an intuitive way to physically interact with it. In this work, external forces acting on the quadrocopter are estimated from position and attitude information and then input to the admittance controller, which modifies the vehicle reference trajectory accordingly. The reference trajectory is tracked by an underlying position and attitude controller. The characteristics of the overall control scheme are investigated for the near-hover case. Experimental results complement the paper, demonstrating the suitability of the method for physical human-quadrocopter interaction.