Physical Human-Robot Interaction With a Tethered Aerial Vehicle: Application to a Force-Based Human Guiding Problem

Today, physical human-robot interaction (pHRI) is a very popular topic in the field of ground manipulation. At same time, aerial also developing fast. Nevertheless, pHRI with vehicles has not been addressed so far. In this work, we present study one first systems which human physically connected to an vehicle by cable. We want robot be able pull toward desired position (or along path) only using forces as indirect communication-channel. propose admittance-based approach controller, inspired literature on flexible manipulators, that computes properly guide human. The stability system formally proved Lyapunov-based argument. shown passive, and thus robust nonidealities like model tracking errors, additional forces, time-varying inputs, other external disturbances. design maneuver regulation policy simplify path following problem. global method experimentally validated group four subjects, showing reliable safe pHRI.