Experimental studies of interaction control between a quadrotor system and a human operator

Author

Seungho Jeong ; Seul Jung

Author_Institution

Mechatron. Eng. Dept., Chungnam Nat. Univ., Daejeon, South Korea

fYear

2013

fDate

26-29 Aug. 2013

Firstpage

372

Lastpage

373

Abstract

In this paper, contact force control of a quadrotor system is presented. Due to an expensive cost of sensors for localization, a camera system is used to locate the quadrotor system. Using a maker on the top of a quadrotor system, heading direction can be justified. Based on the localization, the position control of a quadrotor system is performed in indoor environment. In addition, contact force from a human operator is applied to the quadrotor system so that the feasibility of applying force control to the flying system is tested. Experimental studies of interaction control between a quadrotor system and a human operator are presented to confirm the proposed force control performance.

Keywords

aircraft control; force control; helicopters; human-robot interaction; mechanical contact; mobile robots; position control; camera system; contact force control; flying system; heading direction; human operator; indoor environment; interaction control; position control; quadrotor system; Cameras; Force; Force control; Indoor environments; Position control; Robots; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

RO-MAN, 2013 IEEE

Conference_Location

Gyeongju

ISSN

1944-9445

Type

conf

DOI

10.1109/ROMAN.2013.6628467

Filename

6628467