Safe Aerial Human-Robot Interactive Control
May 2022 - Oct 2022
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What?
What?
Address the gap in physical human-robot interaction with aerial robots.
Propose a novel approach for safe, collaborative transportation and manipulation of cable-suspended payloads with multiple aerial robots.
Aim for smooth and intuitive human-object interaction with safety considerations.
How?
How?
Implemented a novel control planning and estimation framework.
Enabled human operators to collaborate with quadrotor teams for manipulating payloads in all six degrees of freedom.
Utilized system redundancy to maintaining safe distances during collaboration through online formation optimziation.
Results
Results
Conducted extensive real-world experiments to validate the proposed approach, both in terms of controller and safety optimizer.
Produced a journal paper and submitted to IEEE: Transaction on Robotics (currently under review)
Check out the video and paper below for more detail!
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