부산대학교 도서관

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with partially-known environments, which may contain uncertainties including unknown spatially-varying friction properties and discontinuous variations of the surface geometry. Finding a solution that senses, adapts, and remains robust against these environmental uncertainties remains an open challenge. This letter presents a learning-based adaptive control strategy for aerial sliding tasks. In particular, the gains of a standard impedance controller are adjusted in real-time by a neural network policy based on proprioceptive and tactile sensing. This policy is trained in simulation with simplified actuator dynamics in a student-teacher learning setup. The real-world performance of the proposed approach is verified using a tilt-arm omnidirectional flying vehicle. The proposed controller structure combines data-driven and model-based control methods, enabling our approach to successfully transfer directly and without adaptation from simulation to the real platform. We attribute the success of the sim-to-real transfer to the inclusion of feedback control in the training and deployment. We achieved tracking performance and disturbance rejection that cannot be achieved using fine-tuned state of the art interaction control method.