카메라기반 실내 자기위치인식을 사용한 인간과 쿼드로터 시스템간의 상호작용제어

This paper presents the interaction control between a quadrotor system and a human operator in the indoor environment. The quadrotor system is equipped with a force sensor to detect the applied force by a human operator. Firstly, the quadrotor system is localized under the camera in the indoor environment. Secondly, the hovering control of the quadrotor is performed. Finally, the contact force control is conducted to interact with a human operator. Experimental studies of the interaction control tasks are performed to check the feasibility of the proposal.