{"id":"https://openalex.org/W3112830500","doi":"https://doi.org/10.1109/tro.2020.3036623","title":"Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle","display_name":"Active Interaction Force Control for Contact-Based Inspection With a Fully Actuated Aerial Vehicle","publication_year":2020,"publication_date":"2020-12-15","ids":{"openalex":"https://openalex.org/W3112830500","doi":"https://doi.org/10.1109/tro.2020.3036623","mag":"3112830500"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3036623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3036623","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.09516","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Karen Bodie","orcid":"https://orcid.org/0000-0001-8168-8561"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Karen Bodie","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8168-8561","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maximilian Brunner","orcid":"https://orcid.org/0000-0002-3239-3430"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Maximilian Brunner","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3239-3430","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Michael Pantic","orcid":"https://orcid.org/0000-0002-2410-5152"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael Pantic","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2410-5152","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stefan Walser","orcid":"https://orcid.org/0000-0003-0233-7793"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stefan Walser","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0233-7793","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Patrick Pfandler","orcid":"https://orcid.org/0000-0003-3192-2350"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Patrick Pfandler","raw_affiliation_strings":["Institute for Building Materials, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3192-2350","affiliations":[{"raw_affiliation_string":"Institute for Building Materials, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ueli Angst","orcid":"https://orcid.org/0000-0002-2603-4757"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ueli Angst","raw_affiliation_strings":["Institute for Building Materials, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2603-4757","affiliations":[{"raw_affiliation_string":"Institute for Building Materials, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2760-7983","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":null,"display_name":"Juan Nieto","orcid":"https://orcid.org/0000-0003-4808-0831"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juan Nieto","raw_affiliation_strings":["Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-4808-0831","affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.4514,"has_fulltext":false,"cited_by_count":157,"citation_normalized_percentile":{"value":0.97135716,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"37","issue":"3","first_page":"709","last_page":"722"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.29440000653266907,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.29440000653266907,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.28610000014305115,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.15489999949932098,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5756000280380249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5442000031471252},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5080999732017517},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.48100000619888306},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41830000281333923},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.3986000120639801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38429999351501465}],"concepts":[{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5756000280380249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5442000031471252},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5386999845504761},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5080999732017517},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5049999952316284},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44940000772476196},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41830000281333923},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3986000120639801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38429999351501465},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3249000012874603},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30550000071525574},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2906000018119812},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.26660001277923584},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26579999923706055},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.2635999917984009}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2020.3036623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3036623","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2003.09516","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.09516","pdf_url":"https://arxiv.org/pdf/2003.09516","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.09516","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.09516","pdf_url":"https://arxiv.org/pdf/2003.09516","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1541925238","https://openalex.org/W2016958754","https://openalex.org/W2057607924","https://openalex.org/W2089908769","https://openalex.org/W2112474089","https://openalex.org/W2214613866","https://openalex.org/W2219720796","https://openalex.org/W2297770232","https://openalex.org/W2482392012","https://openalex.org/W2588620362","https://openalex.org/W2762248135","https://openalex.org/W2762878490","https://openalex.org/W2781992058","https://openalex.org/W2783840519","https://openalex.org/W2792083172","https://openalex.org/W2810622842","https://openalex.org/W2891005336","https://openalex.org/W2897474660","https://openalex.org/W2904009101","https://openalex.org/W2922320344","https://openalex.org/W2944305481","https://openalex.org/W2951145419","https://openalex.org/W2954055669","https://openalex.org/W2954299498","https://openalex.org/W2966945592","https://openalex.org/W2969488088","https://openalex.org/W2994887143","https://openalex.org/W3048039920","https://openalex.org/W4235471589","https://openalex.org/W4255885994","https://openalex.org/W6652231383","https://openalex.org/W6772902792"],"related_works":["https://openalex.org/W2738201010","https://openalex.org/W4226385720","https://openalex.org/W2028673160","https://openalex.org/W2116800748","https://openalex.org/W2131658850","https://openalex.org/W2130805614","https://openalex.org/W2363321486","https://openalex.org/W2163840478","https://openalex.org/W1522672041","https://openalex.org/W3212731325"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"and":[3,9,14,65,74,87,96,116,125],"validates":[4],"active":[5],"interaction":[6,64,69,98,120],"force":[7,39,49],"control":[8,35,40,52,86,121],"planning":[10,88],"for":[11,41,110],"fully":[12,72],"actuated":[13,73],"omnidirectional":[15,75],"aerial":[16,23,77],"manipulation":[17],"platforms,":[18],"with":[19],"the":[20,85],"goal":[21],"of":[22,84,113,119],"contact":[24],"inspection":[25],"in":[26,58,99],"unstructured":[27],"environments.":[28],"We":[29],"present":[30],"a":[31,108],"variable":[32],"axis-selective":[33],"impedance":[34],"which":[36],"integrates":[37],"direct":[38],"intentional":[42],"interaction,":[43,95],"using":[44],"feedback":[45],"from":[46],"an":[47],"on-board":[48],"sensor.":[50],"The":[51,103],"approach":[53],"aims":[54],"to":[55,81],"reject":[56],"disturbances":[57],"free":[59],"flight,":[60],"while":[61],"handling":[62],"unintentional":[63],"actively":[66],"controlling":[67],"desired":[68],"forces.":[70],"A":[71],"tilt-rotor":[76],"system":[78,104],"is":[79,105],"used":[80],"show":[82],"capabilities":[83],"methods.":[89],"Experiments":[90],"demonstrate":[91],"disturbance":[92],"rejection,":[93],"push-and-slide":[94],"force-controlled":[97],"different":[100],"flight":[101],"orientations.":[102],"validated":[106],"as":[107],"tool":[109],"nondestructive":[111],"testing":[112],"concrete":[114],"infrastructure,":[115],"statistical":[117],"results":[118],"performance":[122],"are":[123],"presented":[124],"discussed.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":11},{"year":2025,"cited_by_count":34},{"year":2024,"cited_by_count":38},{"year":2023,"cited_by_count":40},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":9}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2020-12-21T00:00:00"}
