无需外部定位，无人机可自主完成精准接触操作。
Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control
- 用接触感知的视觉惯性里程计，提升接触时定位精度
- 接触时速度估计误差降低66.01%，力与运动稳定控制
- 适合野外部署，适用于维修、装配等真实场景
空中操作（AM）有望使无人机从被动巡检迈向抓取、组装和现场维护等接触式任务。以往方法依赖外部运动捕捉系统，仅采用位置控制，限制了实际部署。本文提出一套完全基于机载传感器的感知-控制闭环，实现无外部定位下的精确运动追踪与受控接触力。核心包括：(1) 增强型视觉惯性里程计（VIO），在接触时激活接触一致性因子，减少接触帧的不确定性与漂移；(2) 基于图像的视觉伺服（IBVS）缓解感知-控制耦合，并结合混合力-位控制器，调节接触力与横向运动以实现稳定接触。实验表明，该方法仅使用机载传感即完成从感知到力控制的闭环，接触时速度估计精度提升66.01%，实现可靠目标逼近与稳定的力保持指向，具备野外部署潜力。
原文摘要 · Abstract (English)
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture (MoCap) and emphasize position control for coarse interactions, limiting deployability. We present a fully onboard perception-control pipeline for contact-rich AM that achieves accurate motion tracking and regulated contact wrenches without MoCap. The main components are (1) an augmented visual-inertial odometry (VIO) estimator with contact-consistency factors that activate only during interaction, tightening uncertainty around the contact frame and reducing drift, and (2) image-based visual servoing (IBVS) to mitigate perception-control coupling, together with a hybrid force-motion controller that regulates contact wrenches and lateral motion for stable contact. Experiments show that our approach closes the perception-to-wrench loop using only onboard sensing, yielding an velocity estimation improvement of 66.01% at contact, reliable target approach, and stable force holding-pointing toward deployable, in-the-wild aerial manipulation.
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