Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work we aim at developing a control framework for OMAVs for reliable physical interaction tasks with articulated and movable objects in the presence of possibly unforeseen disturbances, and without relying on an accurate model of the environment. Inspired by previous applications of energy-based controllers for physical interaction, we propose a passivity-based impedance and wrench tracking controller in combination with a momentum-based wrench estimator. This is combined with an energy-tank framework to guarantee the stability of the system, while energy and power flow-based adaptation policies are deployed to enable safe interaction with any type of passive environment. The control framework provides formal guarantees of stability, which is validated in practice considering the challenging task of pushing a cart of unknown mass, moving on a surface of unknown friction, as well as subjected to unknown disturbances. For this scenario, we present, evaluate and discuss three different policies.
翻译:尽管航空机器人的操纵能力在过去十年中大为改进,但只有少数工作涉及与动态环境进行空中物理互动的问题,提出了强有力的模型方法,但在实际情况下,以高度精确的方式模拟环境往往是不可能的。在这项工作中,我们的目标是为天体航空飞行器制定一个控制框架,以便在可能发生意外扰动的情况下,在不依赖准确的环境模型的情况下,与直线和可移动物体进行可靠的物理互动任务。在以往应用能源控制器进行物理互动的启发下,我们提议采用被动阻碍和扳手追踪控制器,同时使用动力式扳手测算器,同时使用能源储存框架来保证系统稳定,同时采用能源和电力流动适应政策,以便能够与任何类型的被动环境进行安全互动。控制框架提供了正式的稳定保障,考虑到推推一辆未知质量的马车,在未知摩擦的表面移动,并受到未知的干扰,在实践中证实了这一点。我们提出、评估和讨论三种不同的政策。