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This research presents a novel control strategy for multi-link aerial robots, enabling them to perform complex surface sliding tasks by decoupling force and motion regulation across different actuation sources. By combining impedance behavior via rotor thrust with admittance behavior through joint angles, the system achieves both disturbance robustness and compliant adaptation on uncertain geometries without relying on traditional AI or machine learning models.
Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
arXiv:2608.01800v1 Announce Type: new Abstract: Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial challenges in contact-rich aerial manipulation tasks such as surface sliding, which requires both disturbance robustness and compliance to uncertain surface geometry. Force-control strategies such as impedance and admittance control are commonly employed to address these requirements. Although impedance control can provide disturbance-resistant interaction and admittance control can offer compliant adaptation, their opposite force--motion causalities prevent their simultaneous implementation when applied through the same actuation source, such as the rotor thrusts used by conventional aerial robots. To overcome this limitation, we propose a hybrid impedance--admittance control strategy for a multi-link aerial robot. The articulated morphology enables a functional separation of force and motion regulation across joint and rotor actuation sources. In this framework, admittance behavior is generated through joint angle regulation to enhance adaptive interaction, while impedance behavior is achieved by modulating rotor thrust to regulate the sliding motion. This structural coordination allows the robot to leverage the complementary strengths of both control paradigms. As a result, the multi-link aerial robot achieves resilient and adaptive surface sliding. Experimental results demonstrate robust and compliant sliding performance on unknown surfaces.
Abstract:Multi-link aerial robots can actively deform their articulated structures during flight, giving them strong potential for aerial manipulation. However, they still face substantial challenges in contact-rich aerial manipulation tasks such as surface sliding, which requires both disturbance robustness and compliance to uncertain surface geometry. Force-control strategies such as impedance and admittance control are commonly employed to address these requirements. Although impedance control can provide disturbance-resistant interaction and admittance control can offer compliant adaptation, their opposite force--motion causalities prevent their simultaneous implementation when applied through the same actuation source, such as the rotor thrusts used by conventional aerial robots. To overcome this limitation, we propose a hybrid impedance--admittance control strategy for a multi-link aerial robot. The articulated morphology enables a functional separation of force and motion regulation across joint and rotor actuation sources. In this framework, admittance behavior is generated through joint angle regulation to enhance adaptive interaction, while impedance behavior is achieved by modulating rotor thrust to regulate the sliding motion. This structural coordination allows the robot to leverage the complementary strengths of both control paradigms. As a result, the multi-link aerial robot achieves resilient and adaptive surface sliding. Experimental results demonstrate robust and compliant sliding performance on unknown surfaces.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2608.01800 [cs.RO]
(or arXiv:2608.01800v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.01800 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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