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Coordination and Synchronization for a Rhythmic Flight Performance
Angela Schoellig
Institute for Dynamic Systems and Control ETH Zurich, Switzerland
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LET‘S DANCE
Angela Schoellig ‐ ETH Zurich
Coordination and Synchronization for a Rhythmic Flight Performance - - PowerPoint PPT Presentation
Coordination and Synchronization for a Rhythmic Flight Performance - - PowerPoint PPT Presentation
Coordination and Synchronization for a Rhythmic Flight Performance Angela Schoellig Institute for Dynamic Systems and Control ETH Zurich, Switzerland 1 LETS DANCE Angela Schoellig ETH Zurich 2 ... DANCE IN THE AIR VISION Dance performance
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... DANCE IN THE AIR
Angela Schoellig ‐ ETH Zurich
VISION Dance performance of
multiple quadrocopters.
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4 Angela Schoellig ‐ ETH Zurich Type: Quadrocopter Size: Ø 3 feet Weight: 1 pound Flight time: 15 minutes Name: Flying Machine Arena Size: 33 x 33 x 33 feet Protection: Nets, padded floor
ACTORS STAGE
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VIDEO http://youtu.be/DrHlgxf0oQw?list=PLD6AAACCBFFE64AC5
Angela Schoellig ‐ ETH Zurich
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… use controls and system dynamics.
OBJECTIVE & FOCUS
How do we achieve a rhythmic flight performance?
MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION
PREPROGRAMMED. DONE AHEAD OF TIME.
Angela Schoellig ‐ ETH Zurich
FOCUS
ICRA 2010 & IROS 2010] [Schoellig, Augugliaro and D'Andrea,
How do we create an intuitive interface for the design of choreographies?
ACC 2011] [Schoellig, Hehn, Lupashin and D'Andrea,
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CONTROLLER
MOTION CONTROL
Angela Schoellig ‐ ETH Zurich
position, attitude
ESTIMATOR
full state information
desired trajectory (+ desired velocities, accelerations)
desired collective thrust, desired rotational rates ESTIMATOR CONTROLLER
CAMERAS
RATE GYROS
rotational rates motor commands rotational rates
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RHYTHMIC MOTION
Angela Schoellig ‐ ETH Zurich
Music. Side‐to‐side motion.
First... Synchronize the SIDE‐TO‐SIDE MOTION of a quadrocopter to music.
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Quadrocopter response shows constant phase error after a transient phase.
PHASE ERROR
Angela Schoellig ‐ ETH Zurich
CONTROLLER
desired trajectory (+ desired velocities, accelerations) quadrocopter trajectory
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Quadrocopter response shows constant phase error after a transient phase.
PHASE ERROR
Angela Schoellig ‐ ETH Zurich
Linear system behavior. Repeatable.
CONTROLLER
desired trajectory (+ desired velocities, accelerations) quadrocopter trajectory
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OPTION 1: Online phase detection and correction transient behavior OPTION 2: Learn phase offset ahead of time, feedforward compensation less robust
SYNCHRONIZATION
Angela Schoellig ‐ ETH Zurich
COMBINE!
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… use controls and system dynamics.
OBJECTIVE & FOCUS
How can we achieve a rhythmic flight performance?
MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION
PREPROGRAMMED. DONE AHEAD OF TIME.
Angela Schoellig ‐ ETH Zurich
FOCUS
How can we create an intuitive interface for the design of choreographies?
Parameterized motion primitives. Based on model.
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MOTION DESIGN – idea
Angela Schoellig ‐ ETH Zurich
Specify motion through position and yaw (4DOF): Introduce parametrized motion primitives: CHOREOGRAPHY – concatenation of basic motion elements
MOTION PRIMITIVE A MOTION PRIMITIVE B MOTION PRIMITIVE D
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Periodic motion primitive.
MOTION DESIGN – example
Angela Schoellig ‐ ETH Zurich
includes
- side‐to‐side motions
- circles
- spirals
- ....
DESIGN PARADIGM. space – time – energy – structure
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Periodic motion primitive.
MOTION DESIGN – example
Angela Schoellig ‐ ETH Zurich
includes
- side‐to‐side motions
- circles
- spirals
- ....
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MOTION FEASIBILITY – model/constraints
Angela Schoellig ‐ ETH Zurich
First principles model. Constraints.
(1) Collective thrust (input) (2) Single motor thrust CHECK 1: Collective thrust limits.
MOTION DESIGN COLLECTIVE THRUST LIMIT ?
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MOTION FEASIBILITY – model/constraints
Angela Schoellig ‐ ETH Zurich
First principles model. Constraints.
(1) Collective thrust (input) (2) Single motor thrust CHECK 1: Collective thrust limits. CHECK 2: Single motor thrust limits.
MOTION DESIGN COLLECTIVE THRUST LIMIT ? VEHICLE DYNAMICS
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MOTION FEASIBILITY – example
Angela Schoellig ‐ ETH Zurich
Side‐to‐side motion.
Violates collective thrust limit (CHECK 1) Violates single motor thrust limit (CHECK 2)
Feasibility.
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MOTION FEASIBILITY – example
Angela Schoellig ‐ ETH Zurich
Side‐to‐side motion.
Violates collective thrust limit (CHECK 1) Violates single motor thrust limit (CHECK 2)
EXPERIMENTAL RESULTS: motor commands saturated 1% of the time.
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CURRENT STATUS
Angela Schoellig ‐ ETH Zurich
Work with Federico Augugliaro
Motion design.
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CURRENT STATUS
Angela Schoellig ‐ ETH Zurich
Work with Federico Augugliaro
Feasibility.
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- choreographies based on motion primitives that are adjustable in their
parameters
- feasibility check prior to flight based on first principles models
- synchronization to the music while flying
SUMMARY
Angela Schoellig ‐ ETH Zurich
MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION
... One step towards creating choreography in a simple and intuitive
way.
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LET‘S DANCE http://youtu.be/7r281vgfotg?list=PLD6AAACCBFFE64AC5
Angela Schoellig ‐ ETH Zurich
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Videos: www.tinyurl.com/dance2gether www.tinyurl.com/tripleDance More: www.FlyingMachineArena.org
Angela Schoellig ‐ ETH Zurich