@inproceedings{1c3ee75a873d4d5d89dc67a5d777c93e,
title = "Energy-Tank Based Force Control for 3D Contour Following",
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.",
keywords = "Compliance, Control, Manipulation, Mechatronics",
author = "Salua Hamaza and Ioannis Georgilas and Thomas Richardson",
year = "2019",
doi = "10.1007/978-3-030-23807-0_4",
language = "English",
isbn = "9783030238063",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer",
pages = "41--51",
editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",
booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",
note = "20th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",
}