Experimental Evaluation of Impedance Control for Robotic Aircraft Refueling

Abstract

The robotics program at AFIT is quite advanced in the areas of interest to the Air Force such as human arm emulation and robotic assisted aircraft turnaround. Compliant motion is an enabling technology for these efforts that will prove useful in other applications as well. The refueling task provided the impetus for future development that may soon be used in grasping operations and of course, the completion of the impedance control algorithm implementation. The goals of this thesis were essentially to build on the foundation laid in previous work by Capt David Duvall and advance the development he began. Specifically, two things were sought: a refueling demonstration, and a more user friendly environment for future progress. (jes)

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Document Details

Document Type
Technical Report
Publication Date
Dec 14, 1989
Accession Number
ADA215532

Entities

People

  • Vernon W. Milholen

Organizations

  • Air Force Institute of Technology

Tags

Communities of Interest

  • Advanced Electronics
  • Autonomy
  • Human Systems
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Air Force
  • Closed Loop Systems
  • Computer Programming
  • Control Systems
  • Data Transmission
  • Frequency
  • Friction
  • Literature Surveys
  • Measurement
  • Mechanical Impedance
  • Operating Systems
  • Orientation (Direction)
  • Pattern Recognition
  • Refueling
  • Robots
  • Test And Evaluation

Readers

  • Aerospace Engineering
  • Defense Technology Research and Development.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - DoD AI Strategy
  • Autonomy