Afifi, Amr (University of Twente), Corsini, Gianluca (Université de Toulouse), Sable, Quentin (University of Twente), Aboudorra, Youssef (University of Twente), Sidobre, Daniel (Université de Toulouse), Franchi, Antonio (University of Twente)

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

Scheduled for presentation during the Regular Session "Aerial Robotic Manipulation" (FrA1), Friday, June 9, 2023, 11:30−11:50, Room 118

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

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 archi- tecture composed of a feedback linearization motion controller, an admittance filter and a hybrid wrench observer. The exper- iments 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).