Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits
Amr Afifi,Mark van Holland,Antonio Franchi,Amr Afifi,Mark van Holland,Antonio Franchi
In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interaction supervisor to automatically shape the compliance based on the interaction regions defined around t...
