Jerk-based controllers are promising strategies for humanoid robots balancing and basic locomotion [1]. The key feature of such control strategies is to include force feedback from force/torque sensors, a fundamental piece of information for robots performing physical interaction tasks. Force feedback is integrated into the control design through a parametrization of the contact forces, ensuring also the maintenance of contact stability conditions.
Jerk-based control design could find valuable and novel applications for the control of aerial manipulators. These robots are designed to perform physical interaction tasks, such as object manipulation and polishing [2]. Yet, there are still open questions that need to be resolved. Firstly, it is required to investigate and possibly enforce the robustness of jerk controllers with regard to noisy FT sensor measurements. Secondly, force parameterization could be revised and extended to different contact conditions, for example, sliding along a surface while maintaining contact. Lastly, the control design and stability analysis may be extended to parametrize and also include joints and torque limits.
[1] A. Gazar, G. Nava, F. J. A. Chavez and D. Pucci, "Jerk Control of Floating Base Systems With Contact-Stable Parameterized Force Feedback," in IEEE Transactions on Robotics, vol. 37, no. 1, pp. 1-15, Feb. 2021, doi: 10.1109/TRO.2020.3005547.
[2] A. Ollero et al., "The AEROARMS Project: Aerial Robots with Advanced Manipulation Capabilities for Inspection and Maintenance," in IEEE Robotics & Automation Magazine, vol. 25, no. 4, pp. 12-23, Dec. 2018, doi: 10.1109/MRA.2018.2852789