Publication

Hybrid visual servoing with hierarchical task composition for aerial manipulation

Journal Article (2016)

Journal

IEEE Robotics and Automation Letters

Pages

259-266

Volume

1

Number

1

Doc link

http://dx.doi.org/10.1109/LRA.2015.2510749

File

Download the digital copy of the doc pdf document

Abstract

In this paper a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.

Categories

aerospace robotics, cascade control, manipulators, mobile robots, robot dynamics, robot kinematics, robot vision.

Author keywords

hierarchical control

Scientific reference

V. Lippiello, J. Cacace, A. Santamaria-Navarro, J. Andrade-Cetto, M.A. Trujillo, Y. Rodriguez and A. Viguria. Hybrid visual servoing with hierarchical task composition for aerial manipulation. IEEE Robotics and Automation Letters, 1(1): 259-266, 2016.