{"id":259,"date":"2020-10-27T03:27:00","date_gmt":"2020-10-27T02:27:00","guid":{"rendered":"https:\/\/ramyrashad.com\/?p=259"},"modified":"2023-08-04T11:58:05","modified_gmt":"2023-08-04T10:58:05","slug":"perception-and-decision-making","status":"publish","type":"post","link":"https:\/\/ramyrashad.com\/index.php\/2020\/10\/27\/perception-and-decision-making\/","title":{"rendered":"Vision-based impedance control"},"content":{"rendered":"\n<p><strong> Research Overview<\/strong><\/p>\n\n\n\n<p>The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contactbased inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected.<\/p>\n\n\n\n<p>Combining these results with previous work on energybased interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS\/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor<br>interacting with heterogeneous curved surfaces whose geometric description is not available a priori, provided that enough visual features on the target are naturally or artificially available to allow the integration of localization and mapping algorithms.<\/p>\n\n\n\n<p><strong>Publications<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Ramy Rashad, Davide Bicego, Ran Jiao, Santiago Sanchez-Escalonilla, Stefano Stramigioli&nbsp;(2020)&nbsp;Towards vision-based impedance control for the contact inspection of unknown generically-shaped surfaces with a fully-actuated UAV,&nbsp;IEEE International Conference on Intelligent Robots and Systems(143081),&nbsp;p. 1605-1612,&nbsp;<a href=\"https:\/\/doi.org\/10.1109\/IROS45743.2020.9341203\" target=\"_blank\" rel=\"noreferrer noopener\">doi:10.1109\/IROS45743.2020.9341203<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"IROS2020: Towards Vision-Based Impedance Control with a Fully-Actuated UAV\" width=\"790\" height=\"444\" src=\"https:\/\/www.youtube.com\/embed\/2c2cDv7uA6s?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>B. Sirmacek, R. Rashad, P. Radl&nbsp;(2019)&nbsp;Autonomous uav-based 3d-reconstruction of structures for aerial physical interaction,&nbsp;International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences &#8211; ISPRS Archives&nbsp;42(2\/W13),&nbsp;p. 601-605,&nbsp;<a href=\"https:\/\/doi.org\/10.5194\/isprs-archives-XLII-2-W13-601-2019\" target=\"_blank\" rel=\"noreferrer noopener\">doi:10.5194\/isprs-archives-XLII-2-W13-601-2019<\/a><br><br>Patrick Radl,&nbsp;<a href=\"https:\/\/essay.utwente.nl\/78023\/\" target=\"_blank\" rel=\"noreferrer noopener\">3D reconstruction improvement by path planning towards physical interaction with a UAV<\/a>, University of Twente (Jun 2019), Supervisors: R. Rashad, B. Sirma\u00e7ek, F. van der Heijden<br><br>Rajavarman Mathivanan,&nbsp;<a href=\"https:\/\/essay.utwente.nl\/81927\/\" target=\"_blank\" rel=\"noreferrer noopener\">Texture Based Autonomous Reconstruction of 3D Point Cloud Model using Fully Actuated UAVs<\/a>, University of Twente (Jul 2020), Supervisors: R. Rashad, D. Bicego, G. Krijnen<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-layout-1 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1-1024x575.png\" alt=\"\" class=\"wp-image-344\" width=\"424\" height=\"237\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1-1024x575.png 1024w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1-300x169.png 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1-768x431.png 768w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1-1536x863.png 1536w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/gazebo-1.png 1921w\" sizes=\"(max-width: 424px) 100vw, 424px\" \/><figcaption class=\"wp-element-caption\">Gazebo simulation environment<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/rviz_PC_colored_side-1.png\" alt=\"\" class=\"wp-image-345\" width=\"384\" height=\"308\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/rviz_PC_colored_side-1.png 808w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/rviz_PC_colored_side-1-300x241.png 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/rviz_PC_colored_side-1-768x616.png 768w\" sizes=\"(max-width: 384px) 100vw, 384px\" \/><figcaption class=\"wp-element-caption\">Manual reconstruction of 3D point cloud<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"609\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/gif.gif\" alt=\"\" class=\"wp-image-357\"\/><figcaption class=\"wp-element-caption\">Autonomous reconstruction of 3D point cloud using <\/figcaption><\/figure>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Research Overview The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":315,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"ub_ctt_via":"","_mi_skip_tracking":false,"footnotes":""},"categories":[13],"tags":[],"aioseo_notices":[],"featured_image_src":"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/07\/IROS20-1.png","author_info":{"display_name":"Ramy","author_link":"https:\/\/ramyrashad.com\/index.php\/author\/ramy-abdelmonemgmail-com\/"},"_links":{"self":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/259"}],"collection":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/comments?post=259"}],"version-history":[{"count":6,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/259\/revisions"}],"predecessor-version":[{"id":359,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/259\/revisions\/359"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media\/315"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=259"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/categories?post=259"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/tags?post=259"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}