Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem

Marco Tognon; Rachid Alami; Bruno Siciliano

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Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem

机译：Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem

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Today, physical human-robot interaction (pHRI) is a very popular topic in the field of ground manipulation. At the same time, aerial physical interaction is also developing very fast. Nevertheless, pHRI with aerial vehicles has not been addressed so far. In this work, we present the study of one of the first systems in which a human is physically connected to an aerial vehicle by a cable. We want the robot to be able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel. We propose an admittance-based approach with a controller, inspired by the literature on flexible manipulators, that computes the desired interaction forces that properly guide the human. The stability of the system is formally proved with a Lyapunov-based argument. The system is also shown to be passive, and thus robust to nonidealities like model and tracking errors, additional human forces, time-varying inputs, and other external disturbances. We also design a maneuver regulation policy to simplify the path following problem. The global method has been experimentally validated on a group of four subjects, showing a reliable and safe pHRI.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2021年第3期|723-734|共12页
作者
Marco Tognon; Rachid Alami; Bruno Siciliano;
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作者单位

Autonomous Systems Lab, Department of Mechanical and Process Engineering, ETH Zürich, Zürich, Switzerland;

LAAS-CNRS, Universit deToulouse, CNRS and Artificial and Natural Intelligence Toulouse Institute, Toulouse, France;

Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robots; Force; Unmanned aerial vehicles; Human-robot interaction; Vehicle dynamics; Task analysis; Safety;

Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem

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