Semi-autonomous flying robot for physical interaction with environment

TLDR

UAVs have traditionally performed tasks without physical contact, but this work proposes a novel approach enabling force application to walls, opening possibilities for high‑place cleaning, rescue, and maintenance. The study develops a UAV capable of applying force to a wall while maintaining flight stability. The system uses a quadrotor with IMU stabilization, an added actuator for contact force, and a control architecture based on ultrasonic distance sensors and a CMOS camera. Flight tests demonstrate that the UAV can apply force to a wall while remaining stable.

Abstract

This contribution presents the first results of the development of an unmanned aerial vehicle (UAV) which is capable of applying force to a wall while maintaining flight stability. This is a novel idea since UAVs are used so far only for tasks without physical contact to the surrounding objects. The basis for the work presented is a quadrotor system which is stabilized with an inertial measurement unit. As a new approach an additional actuator was added to generate forces in physical contact while the UAV stays horizontal. A control architecture based on ultrasonic distance sensors and a CMOS-camera is proposed. The performance of the system was proved by several flight tests. Potential applications of the system can be physical tasks at high places like cleaning windows or walls as well as rescue or maintenance tasks.