Publication
Hybrid visual servoing with hierarchical task composition for aerial manipulation
Journal Article (2016)
Journal
IEEE Robotics and Automation Letters
Pages
259-266
Volume
1
Number
1
Doc link
http://dx.doi.org/10.1109/LRA.2015.2510749
File
Authors
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Lippiello, Vincenzo
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Cacace, Jonathan
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Santamaria Navarro, Angel
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Andrade Cetto, Juan
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Trujillo, Miguel Angel
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Rodriguez Esteves, Yamnia
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Viguria, Antidio
Projects associated
Abstract
In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.
Categories
aerospace robotics, cascade control, manipulators, mobile robots, robot dynamics, robot kinematics, robot vision.
Author keywords
hierarchical control
Scientific reference
V. Lippiello, J. Cacace, A. Santamaria-Navarro, J. Andrade-Cetto, M.A. Trujillo, Y. Rodriguez and A. Viguria. Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robotics and Automation Letters, 1(1): 259-266, 2016.
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