Semi-autonomous flying robot for physical interaction with environment

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Semi-autonomous flying robot for physical interaction with environment

Albers, Albert / Trautmann, Simon / Howard, Thomas / Nguyen, Trong-Anh / Frietsch, Markus / Sauter, Christian

This contribution presents the first results of the development of an unmanned aerial vehicle (UAV) which is capable of applying force to a wall while maintaining flight stability. This is a novel idea since UAVs are used so far only for tasks without physical contact to the surrounding objects. The basis for the work presented is a quadrotor system which is stabilized with an inertial measurement unit. As a new approach an additional actuator was added to generate forces in physical contact while the UAV stays horizontal. A control architecture based on ultrasonic distance sensors and a CMOS-camera is proposed. The performance of the system was proved by several flight tests. Potential applications of the system can be physical tasks at high places like cleaning windows or walls as well as rescue or maintenance tasks.

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Document information

Title :

Semi-autonomous flying robot for physical interaction with environment

Contributors:

Albers, Albert (author) / Trautmann, Simon (author) / Howard, Thomas (author) / Nguyen, Trong-Anh (author) / Frietsch, Markus (author) / Sauter, Christian (author)

Published in:

RAM, IEEE Conference on Robotics, Automation and Mechatronics, 2010 ; 441-446

Publication date :

2010

Size :

6 Seiten, 18 Quellen

ISBN :

978-1-4244-6503-3

DOI :

https://doi.org/10.1109/RAMECH.2010.5513152

Type of media :

Conference paper