Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction

With the rapid development of Aerial Physical Interaction, possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one our previous works, we considered first systems in which human connected an vehicle by cable. There, developed compliant controller that allows robot pull toward desired position using forces only as indirect communication-channel. However, this based on robot-state only, makes system not adaptable behavior, and particular their walking speed. This reduces effectiveness comfort guidance when still far from point. paper, formally analyze problem propose human-state-aware includes human`s velocity feedback. We theoretically prove experimentally show method provides more consistent guiding force enhances experience.