Abstract
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in which a human is physically connected to an aerial vehicle by a cable. There, we developed a compliant controller that allows the robot to pull the human toward a desired position using forces only as an indirect communication-channel. However, this controller is based on the robot-state only, which makes the system not adaptable to the human behavior, and in particular to their walking speed. This reduces the effectiveness and comfort of the guidance when the human is still far from the desired point. In this paper, we formally analyze the problem and propose a human-state-aware controller that includes a human`s velocity feedback. We theoretically prove and experimentally show that this method provides a more consistent guiding force which enhances the guiding experience.
Highlights
A ERIAL Physical Interaction (APhI) is seeing a constant growth of interest
Taking inspiration by the literature of tethered aerial vehicles used for physical interaction [13], [14], the human holds a handle which is in turn connected to an aerial vehicle through a cable
This article discusses the control of a system composed of an aerial robot physically coupled by a cable to the hand of a human being
Summary
A ERIAL Physical Interaction (APhI) is seeing a constant growth of interest. Motivated by scientific challenges, as well as industrial and economical potentials, the robotics community is conceiving and studying new aerial robots able to interact with and manipulate the environment [2]. Taking inspiration by the literature of tethered aerial vehicles used for physical interaction [13], [14], the human holds a handle which is in turn connected to an aerial vehicle through a cable (see Fig. 1) For this system, we designed an admittance-based control strategy that allows the robot to safely “physically guide” the human toward a desired position by exploiting the cable as a force-based communication channel. This shows the need of more human-related feedback and adaptation laws in robot controllers for pHRI tasks This requirement motivated the present work in which we first formally analyze the mentioned problem, finding the mathematical reasoning behind it.
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