Towards An Adaptive-Compliance Aerial Manipulator for Contact-Based Interaction

Salua Hamaza, Ioannis Georgilas, Tom Richardson

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

17 Citations (Scopus)
302 Downloads (Pure)


As roles for unmanned aerial vehicles (UAVs)continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptively compliant actuator which will allow a UAV to carry out such tasks as the “pick and placement” of remote sensors, structural testing and contact-based inspection. Three key results are discussed and presented; the ability to physically apply forces with the UAV through the use of an active compliant manipulator; the ability to tailor these forces through tuning of the manipulator controller gains; and the ability to apply a rapid series of physical pulses in order to excite remotely placed sensors, e.g. vibration sensors. A series of over sixty flight tests have been used to generate initial results which clearly demonstrate the potential of this new type of compliant aerial actuator.
Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Electronic)9781538680940
ISBN (Print)9781538680957
Publication statusPublished - 7 Jan 2019

Publication series

NameIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Structured keywords

  • Engineering Education Research Group
  • Manipulator dynamics
  • Task analysis
  • Aerial robotics
  • Robotics


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