{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:44Z","timestamp":1754155424534,"version":"3.41.2"},"reference-count":22,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2024,6,13]],"date-time":"2024-06-13T00:00:00Z","timestamp":1718236800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2024,7,2]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Fully-actuated unmanned aerial vehicles (UAVs) are a growing and promising field of research, which shows advantages for aerial physical interaction. The purpose of this paper is to construct a force sensor-denied control method for a fully-actuated hexarotor to conduct aerial interaction with accurate force exerted outward.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, by extending single-dimension impedance model to the fully-actuated UAV model, an impedance controller is designed for compliant UAV pose\/force control. Then, to estimate the interaction force between UAV end-effector and external environment accurately, combined with super-twisting theory, a nonlinear force observer is constructed. Finally, based on impedance controller and estimated force from observer, an interaction force regulation method is proposed.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The presented nonlinear observer-based impedance control approach is validated in both simulation and environments, in which the authors try to use a fully-actuated hexarotor to accomplish the task of aerial physical interaction finding that a specified force is able to be exerted to environment without any information from force sensors.<\/jats:p>\n<\/jats:sec>\n<jats:sec><jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>A solution of aerial physical interaction for UAV system enabling accurate force exerted outward without any force sensors is proposed in this paper.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2023-0268","type":"journal-article","created":{"date-parts":[[2024,6,11]],"date-time":"2024-06-11T08:48:57Z","timestamp":1718095737000},"page":"683-695","source":"Crossref","is-referenced-by-count":1,"title":["Nonlinear observer-based impedance control of a fully-actuated hexarotor for accurate aerial physical interaction"],"prefix":"10.1108","volume":"51","author":[{"given":"Chang","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ran","family":"Jiao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianhua","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,6,13]]},"reference":[{"issue":"10\/11","key":"key2024070211045138100_ref001","first-page":"1305","article-title":"Design and optimal control of a tiltrotor micro-aerial vehicle for efficient omnidirectional flight","volume":"39","year":"2020","journal-title":"The International Journal of Robotics Research"},{"issue":"20","key":"key2024070211045138100_ref002","doi-asserted-by":"crossref","first-page":"258","DOI":"10.1016\/j.ifacol.2021.11.184","article-title":"Physical human-UAV interaction with commercial drones using admittance control","volume":"54","year":"2021","journal-title":"IFAC-PapersOnLine"},{"issue":"3","key":"key2024070211045138100_ref003","first-page":"709","article-title":"Active interaction force control for contact-based inspection \u00a8 with a fully actuated aerial vehicle","volume":"37","year":"2020","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"key2024070211045138100_ref004","doi-asserted-by":"crossref","first-page":"1627","DOI":"10.3390\/s22041627","article-title":"Non-destructive techniques for the condition and structural health monitoring of wind turbines: a literature review of the last 20 years","volume":"22","year":"2022","journal-title":"Sensors"},{"key":"key2024070211045138100_ref005","first-page":"595","article-title":"Rotorsaa modular gazebo MAV simulator framework","volume":"1","year":"2016","journal-title":"Robot Operating System (ROS) the Complete Reference"},{"issue":"3","key":"key2024070211045138100_ref006","doi-asserted-by":"crossref","first-page":"2793","DOI":"10.1109\/LRA.2019.2918448","article-title":"Sensor installation and retrieval operations using an unmanned aerial manipulator","volume":"4","year":"2019","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"11","key":"key2024070211045138100_ref007","doi-asserted-by":"crossref","first-page":"5231","DOI":"10.3390\/s23115231","article-title":"Nonlinear model predictive impedance control of a fully actuated hexarotor for physical interaction","volume":"23","year":"2023","journal-title":"Sensors"},{"issue":"4","key":"key2024070211045138100_ref008","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1007\/s10846-021-01434-x","article-title":"Observer-based geometric impedance control of a fully-actuated hexarotor for physical sliding interaction with unknown generic surfaces","volume":"102","year":"2021","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"5","key":"key2024070211045138100_ref009","article-title":"Hybrid-disturbance-observer-based interaction control for a fully actuated UAV with tether-based positioning system","volume":"50","year":"2023","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"first-page":"3923","article-title":"A robust and modular multi-sensor fusion approach applied to MAV navigation","year":"2013","key":"key2024070211045138100_ref010"},{"key":"key2024070211045138100_ref011","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/ICNAS59892.2023.10330449","article-title":"Theory and practice for trajectory tracking of quadrotor UAV via a fifth generation sliding mode approach","volume-title":"2023 International Conference on Networking and Advanced Systems (ICNAS)","year":"2023"},{"first-page":"1170","article-title":"Finite-time attitude control of uncertain quadrotor aircraft via continuous terminal sliding-mode based active anti-disturbance approach","year":"2021","key":"key2024070211045138100_ref012"},{"key":"key2024070211045138100_ref013","doi-asserted-by":"crossref","first-page":"107639","DOI":"10.1016\/j.ast.2022.107639","article-title":"Nonlinear homogeneous sliding mode approach for fixed-time robust formation tracking control of networked quadrotors","volume":"126","year":"2022","journal-title":"Aerospace Science and Technology"},{"first-page":"6235","article-title":"Px4: a node-based multithreaded open source robotics framework for deeply embedded platforms","year":"2015","key":"key2024070211045138100_ref014"},{"first-page":"2107","article-title":"Contact force control of an aerial manipulator in pressing an emergency switch process","year":"2018","key":"key2024070211045138100_ref015"},{"key":"key2024070211045138100_ref016","first-page":"326","article-title":"Robust finite-time control of a multirotor system via an improved optimized homogeneous twisting control: design and validation","volume-title":"Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications-SIMULTECH","year":"2023"},{"issue":"1","key":"key2024070211045138100_ref017","first-page":"626","article-title":"Past, present, and future of aerial robotic manipulators","volume":"38","year":"2021","journal-title":"IEEE Transactions on Robotics"},{"key":"key2024070211045138100_ref018","first-page":"5","article-title":"Ros: an open-source robot operating system","volume-title":"ICRA Workshop on Open Source Software","year":"2009"},{"issue":"3","key":"key2024070211045138100_ref019","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1109\/MRA.2019.2955964","article-title":"Fully actuated multirotor UAVs: a literature review","volume":"27","year":"2020","journal-title":"IEEE Robotics & Automation Magazine"},{"issue":"3","key":"key2024070211045138100_ref020","doi-asserted-by":"crossref","first-page":"1957","DOI":"10.1109\/LRA.2018.2808541","article-title":"Aerial manipulation: a literature review","volume":"3","year":"2018","journal-title":"IEEE Robotics and Automation Letters"},{"first-page":"3340","article-title":"Automated aerial screwing with a fully actuated aerial manipulator","year":"2022","key":"key2024070211045138100_ref021"},{"issue":"2","key":"key2024070211045138100_ref022","doi-asserted-by":"crossref","first-page":"3483","DOI":"10.1109\/LRA.2021.3062795","article-title":"A switchable unmanned aerial manipulator system for window-cleaning robot installation","volume":"6","year":"2021","journal-title":"IEEE Robotics and Automation Letters"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0268\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2023-0268\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:28Z","timestamp":1753393228000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/51\/4\/683-695\/1216898"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,6,13]]},"references-count":22,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2024,6,13]]},"published-print":{"date-parts":[[2024,7,2]]}},"alternative-id":["10.1108\/IR-11-2023-0268"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2023-0268","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"electronic","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2024,6,13]]}}}