Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation
Vincenzo Lippiello, Jonathan Cacace, Angel Santamaria-Navarro, Juan Andrade-Cetto, Miguel Angel Trujillo, Yamnia Rodríguez Esteves, Antidio Viguria
Abstract
In this letter, 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.
BibTeX
@inproceedings{ral2016_hybridvisualserv,
title = {Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation},
author = {Vincenzo Lippiello and Jonathan Cacace and Angel Santamaria-Navarro and Juan Andrade-Cetto and Miguel Angel Trujillo and Yamnia Rodríguez Esteves and Antidio Viguria},
booktitle = {RA-L 2016},
year = {2016}
}