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Energy-Tank Based Force Control for 3D Contour Following

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Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11649))

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Abstract

Manipulation has been a major topic in robotics since its earlier developments. In the last few years, a new research area has focused in the introduction of manipulation capabilities on mobile robots. Several challenges are faced when mobile robots interact with unknown environments, for which inherent compliance is a key feature to achieve the intended outcome in a safe and robust way. This paper proposes a unified method of force control with energy-tank based methods to tackle 3D contour following. This method is tailored for manipulators that are designed for aerial applications, and addresses the interaction with unknown surfaces by also tackling the safety aspect, i.e. the response generated during contact loss.

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Acknowledgments

This work is supported by the EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE).

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Authors and Affiliations

  1. Bristol Robotics Laboratory, Bristol, BS16 1QY, UK

    Salua Hamaza & Thomas Richardson

  2. Department of Mechanical Engineering, University of Bath, Bath, UK

    Ioannis Georgilas

  3. Department of Aerospace Engineering, University of Bristol, Bristol, UK

    Salua Hamaza & Thomas Richardson

Authors
  1. Salua Hamaza
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  2. Ioannis Georgilas
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  3. Thomas Richardson
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Corresponding author

Correspondence to Salua Hamaza .

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Editors and Affiliations

  1. Queen Mary University of London, London, UK

    Kaspar Althoefer

  2. Queen Mary University of London, London, UK

    Jelizaveta Konstantinova

  3. Queen Mary University of London, London, UK

    Ketao Zhang

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Hamaza, S., Georgilas, I., Richardson, T. (2019). Energy-Tank Based Force Control for 3D Contour Following. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_4

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  • DOI: https://doi.org/10.1007/978-3-030-23807-0_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23806-3

  • Online ISBN: 978-3-030-23807-0

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