Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation
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arXiv
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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910911316361216 |
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| author | Guo, Xiaofeng He, Guanqi Xu, Jiahe Mousaei, Mohammadreza Geng, Junyi Scherer, Sebastian Shi, Guanya |
| author_facet | Guo, Xiaofeng He, Guanqi Xu, Jiahe Mousaei, Mohammadreza Geng, Junyi Scherer, Sebastian Shi, Guanya |
| contents | Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or forces. This letter addresses a more general and dynamic task: simultaneously tracking time-varying contact force in the surface normal direction and motion trajectories on tangential surfaces. We propose a pipeline that includes a contact-aware trajectory planner to generate dynamically feasible trajectories, and a hybrid motion-force controller to track such trajectories. We demonstrate the approach in an aerial calligraphy task using a novel sponge pen design as the end-effector, whose stroke width is positively related to the contact force. Additionally, we develop a touchscreen interface for flexible user input. Experiments show our method can effectively draw diverse letters, achieving an IoU of 0.59 and an end-effector position (force) tracking RMSE of 2.9 cm (0.7 N). Website: https://xiaofeng-guo.github.io/flying-calligrapher/ |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_05587 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation Guo, Xiaofeng He, Guanqi Xu, Jiahe Mousaei, Mohammadreza Geng, Junyi Scherer, Sebastian Shi, Guanya Robotics Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or forces. This letter addresses a more general and dynamic task: simultaneously tracking time-varying contact force in the surface normal direction and motion trajectories on tangential surfaces. We propose a pipeline that includes a contact-aware trajectory planner to generate dynamically feasible trajectories, and a hybrid motion-force controller to track such trajectories. We demonstrate the approach in an aerial calligraphy task using a novel sponge pen design as the end-effector, whose stroke width is positively related to the contact force. Additionally, we develop a touchscreen interface for flexible user input. Experiments show our method can effectively draw diverse letters, achieving an IoU of 0.59 and an end-effector position (force) tracking RMSE of 2.9 cm (0.7 N). Website: https://xiaofeng-guo.github.io/flying-calligrapher/ |
| title | Flying Calligrapher: Contact-Aware Motion and Force Planning and Control for Aerial Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.05587 |