{"id":316,"date":"2021-07-02T21:05:00","date_gmt":"2021-07-02T20:05:00","guid":{"rendered":"https:\/\/ramyrashad.com\/?p=316"},"modified":"2023-08-04T11:56:48","modified_gmt":"2023-08-04T10:56:48","slug":"physical-sliding-with-unknown-surface","status":"publish","type":"post","link":"https:\/\/ramyrashad.com\/index.php\/2021\/07\/02\/physical-sliding-with-unknown-surface\/","title":{"rendered":"Physical Sliding with Unknown surface"},"content":{"rendered":"\n<p><strong>Research Overview<\/strong><\/p>\n\n\n\n<p>This work focuses on the automatic aerial contact-based sliding interaction (inspection\/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied on generic surfaces with unknown geometry. The interaction task is achieved by a fully-actuated hexarotor equipped with a rigidly attached end-effector under a passivity-based geometric impedance controller and a new sliding-mode extended state observer to estimate the interaction wrench. In order to increase the observer performance and reduce the estimation chattering phenomenon, the observer is innovatively incorporated with a super-twisting algorithm and a sigmoid function with a switching gain being adaptively updated by a fuzzy logic system.<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/image.png\" alt=\"\" class=\"wp-image-363\" width=\"768\" height=\"507\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/image.png 835w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/image-300x198.png 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/image-768x507.png 768w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><figcaption class=\"wp-element-caption\">Simulation scene of sliding on an open generic surface in which the black dotted line represents the trajectory of UAV end-effector<\/figcaption><\/figure><\/div>\n\n\n<p><strong>Publications<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Ran Jiao, Ramy Rashad, Davide Bicego, Wusheng Chou, Stefano Stramigioli\u00a0(2021)\u00a0Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces,\u00a0Journal of Intelligent and Robotic Systems: Theory and Applications\u00a0102(4),\u00a0Journal of Intelligent &amp; Robotic Systems,\u00a0<a href=\"https:\/\/doi.org\/10.1007\/s10846-021-01434-x\" target=\"_blank\" rel=\"noreferrer noopener\">doi:10.1007\/s10846-021-01434-x<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Research Overview This work focuses on the automatic aerial contact-based sliding interaction (inspection\/cleaning) tasks in aerial robotics allowing a 3D force with a constant norm to be applied [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":317,"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\/Observer_based_sliding.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\/316"}],"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=316"}],"version-history":[{"count":2,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/316\/revisions"}],"predecessor-version":[{"id":364,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/316\/revisions\/364"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media\/317"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=316"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/categories?post=316"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/tags?post=316"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}