One of the widely used interaction control techniques is impedance control, where the interaction behavior of the robot is controlled instead of controlling the position/force of the robot independently. In this research study, the geometric properties of the environment are acquired by the robot through visual perception, instead of relying on a CAD/CAM model of the ideal body. To allow the UAV to autonomously perform interaction tasks on unknown objects, it needs to visually build a 3D reconstructed model of the object. This assignment is a continuation of the work of Patrick Radl ( a former RAM MSc student) with more focus on the 3D reconstruction and experimental validation on a real UAV available at the RAM lab.
Autonomous UAV physical interaction using Airborne Vision-based 3D Reconstruction
Finished: 2020-07-10
MSc assignment