Safety-Conscious Pushing on Diverse Oriented Surfaces with Underactuated Aerial Vehicles

Tong Hui*, Manuel Jesús Fernández González, Matteo Fumagalli

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Abstract

Pushing tasks performed by aerial manipulators can be used for contact-based industrial inspections. Underactuated aerial vehicles are widely employed in aerial manipulation due to their widespread availability and relatively low cost. Industrial infrastructures often consist of diverse oriented work surfaces. When interacting with such surfaces, the coupled gravity compensation and interaction force generation of underactuated aerial vehicles can present the potential challenge of near-saturation operations. The blind utilization of these platforms for such tasks can lead to instability and accidents, creating unsafe operating conditions and potentially damaging the platform. In order to ensure safe pushing on these surfaces while managing platform saturation, this work establishes a safety assessment process. This process involves the prediction of the saturation level of each actuator during pushing across variable surface orientations. Furthermore, the assessment results are used to plan and execute physical experiments, ensuring safe operations and preventing platform damage.
Original languageEnglish
Title of host publicationProceedings of 2024 IEEE International Conference on Robotics and Automation
Number of pages7
PublisherIEEE
Publication statusAccepted/In press - 2024
Event2024 IEEE International Conference on Robotics and Automation - Pacific Convention Plaza Yokohama, Yokohama, Japan
Duration: 13 May 202417 May 2024

Conference

Conference2024 IEEE International Conference on Robotics and Automation
LocationPacific Convention Plaza Yokohama
Country/TerritoryJapan
CityYokohama
Period13/05/202417/05/2024

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