In this paper we present a force control via energy tanks method for use with an unmanned aerial manipulator for the purposes of 2D contour following. This allows an aerial vehicle to trace out a boundary whilst in continuous contact with a surface through means of an active compliant manipulator. This is a key step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual slam. Our results show that an energy-based approach can be used to apply a constant shear force through the manipulator whilst ensuring the vehicle remains in contact with the surface of interest. Results also show that this is a robust, repeatable approach to aerial tactile interaction and one which has the potential to be used in highly complex, unknown environments.
|Intelligent Robots and Systems (IROS), IEEE International Workshop on
- Aerial Robotics Applications
- Aerial Robotics Mechanics and Control
- Tactile Navigation