Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction

With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works [1], we considered one of the first systems in which a human is physically connected to an aerial vehicle...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-04, Vol.7 (2), p.2827-2834
Hauptverfasser:	Allenspach, Mike, Vyas, Yash, Rubio, Matthias, Siegwart, Roland, Tognon, Marco
Format:	Artikel
Sprache:	eng
Schlagworte:	aerial systems: applications Asymptotic stability Autonomous aerial vehicles compliance and impedance control Controllers Dynamics Force Legged locomotion Physical human-robot interaction Robots Vehicle dynamics
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