Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations
Lazar Peric Maximilian Brunner Karen Bodie Marco Tognon Roland Siegwart Lazar Peric Maximilian Brunner Karen Bodie Marco Tognon Roland Siegwart
In this paper, we present a model predictive controller for a fully actuated aerial manipulator to track a hybrid force and pose trajectory at the end-effector in an aerial interaction task. A force sensor at the end-effector is used to detect contact and to directly control the interaction force. We propose an approach for automatic transition between three operation modes which reflect the state...