Impedance-based Control for Soft UAV Landing on a Ground Robot in Heterogeneous Robotic System

Ivan Kalinov,Alexander Petrovsky,Ruslan Agishev,Pavel Karpyshev,Dzmitry Tsetserukou

2021 International Conference on Unmanned Aircraft Systems (ICUAS)（2021）

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摘要

In this paper, we present a new method for soft landing of an unmanned aerial vehicle (UAV) on a ground robot based on impedance control. It is applied for a heterogeneous robotic system aimed at warehouse stocktaking automation. We describe the operating and mathematical principles of the impedance control for the landing system of the UAV and present the results of the real-world experiments. We...

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关键词

Legged locomotion,Force measurement,Automation,Force,Robot sensing systems,Impedance,Force sensors

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