A modified impedance control for physical interaction of UAVs

Abstract

This paper proposes a modified impedance control strategy for a generic robotic system that can interact with an unknown environment or can be moved by a human. The controller makes use of a virtual mass, coupled to the robotic system, which allows for stable interaction. The focus is mainly on unmanned aerial vehicles that are required to get into contact… (More)
DOI: 10.1109/IROS.2013.6696619

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