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

LET‘S DANCE Angela Schoellig ‐ ETH Zurich 2

... DANCE IN THE AIR VISION Dance performance of multiple quadrocopters. Angela Schoellig ‐ ETH Zurich 3

ACTORS STAGE Type: Quadrocopter Name: Flying Machine Arena Size: Ø 3 feet Size: 33 x 33 x 33 feet Weight: 1 pound Protection: Nets, padded floor Flight time: 15 minutes Angela Schoellig ‐ ETH Zurich 4

VIDEO http://youtu.be/DrHlgxf0oQw?list=PLD6AAACCBFFE64AC5 Angela Schoellig ‐ ETH Zurich 5

OBJECTIVE & FOCUS How do we create an intuitive interface How do we achieve a for the design of choreographies? rhythmic flight performance? … use controls and system dynamics. MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION [Schoellig, Hehn, Lupashin and D'Andrea, [Schoellig, Augugliaro and D'Andrea, ACC 2011] ICRA 2010 & IROS 2010] PREPROGRAMMED. DONE AHEAD OF TIME. FOCUS Angela Schoellig ‐ ETH Zurich 6

MOTION CONTROL CAMERAS position, attitude ESTIMATOR full state information RATE GYROS rotational CONTROLLER rates desired trajectory ESTIMATOR (+ desired velocities, accelerations) rotational rates CONTROLLER motor desired collective thrust, commands desired rotational rates Angela Schoellig ‐ ETH Zurich 7

RHYTHMIC MOTION First... Synchronize the SIDE ‐ TO ‐ SIDE MOTION of a quadrocopter to music. Music. Side ‐ to ‐ side motion. Angela Schoellig ‐ ETH Zurich 8

PHASE ERROR CONTROLLER quadrocopter desired trajectory (+ desired velocities, trajectory accelerations) Quadrocopter response shows constant phase error after a transient phase. Angela Schoellig ‐ ETH Zurich 9

PHASE ERROR CONTROLLER quadrocopter desired trajectory (+ desired velocities, trajectory accelerations) Quadrocopter response shows constant phase error after a transient phase. Linear system behavior. Repeatable. Angela Schoellig ‐ ETH Zurich 10

SYNCHRONIZATION OPTION 1: Online phase detection and correction  transient behavior OPTION 2: Learn phase offset ahead of time, feedforward compensation  less robust COMBINE! Angela Schoellig ‐ ETH Zurich 11

OBJECTIVE & FOCUS How can we create an intuitive interface How can we achieve a for the design of choreographies? rhythmic flight performance? … use controls and system dynamics. MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION Parameterized Based on motion primitives. model. PREPROGRAMMED. DONE AHEAD OF TIME. FOCUS Angela Schoellig ‐ ETH Zurich 12

MOTION DESIGN – idea CHOREOGRAPHY – concatenation of basic motion elements MOTION PRIMITIVE A MOTION PRIMITIVE B MOTION PRIMITIVE D Specify motion through position and yaw (4DOF): Introduce parametrized motion primitives: Angela Schoellig ‐ ETH Zurich 13

MOTION DESIGN – example Periodic motion primitive. includes side ‐ to ‐ side motions • circles • spirals • .... • DESIGN PARADIGM. space – time – energy – structure Angela Schoellig ‐ ETH Zurich 14

MOTION DESIGN – example Periodic motion primitive. includes side ‐ to ‐ side motions • circles • spirals • .... • Angela Schoellig ‐ ETH Zurich 15

MOTION FEASIBILITY – model/constraints First principles model. Constraints. (1) Collective thrust (input) (2) Single motor thrust MOTION DESIGN CHECK 1: Collective thrust limits. COLLECTIVE THRUST LIMIT ? Angela Schoellig ‐ ETH Zurich 16

MOTION FEASIBILITY – model/constraints First principles model. Constraints. (1) Collective thrust (input) (2) Single motor thrust MOTION DESIGN CHECK 1: Collective thrust limits. VEHICLE DYNAMICS CHECK 2: Single motor thrust limits. COLLECTIVE THRUST LIMIT ? Angela Schoellig ‐ ETH Zurich 17

MOTION FEASIBILITY – example Side ‐ to ‐ side motion. Feasibility. Violates collective thrust limit (CHECK 1) Violates single motor thrust limit (CHECK 2) Angela Schoellig ‐ ETH Zurich 18

MOTION FEASIBILITY – example Side ‐ to ‐ side motion. EXPERIMENTAL RESULTS: motor commands saturated 1% of the time. Violates collective thrust limit (CHECK 1) Violates single motor thrust limit (CHECK 2) Angela Schoellig ‐ ETH Zurich 19

CURRENT STATUS Motion design. Work with Federico Augugliaro Angela Schoellig ‐ ETH Zurich 20

CURRENT STATUS Feasibility. Work with Federico Augugliaro Angela Schoellig ‐ ETH Zurich 21

SUMMARY MOTION DESIGN FEASIBILITY CONTROL SYNCHRONIZATION 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 • ... One step towards creating choreography in a simple and intuitive way. Angela Schoellig ‐ ETH Zurich 22

LET‘S DANCE http://youtu.be/7r281vgfotg?list=PLD6AAACCBFFE64AC5 Angela Schoellig ‐ ETH Zurich 23

Videos: www.tinyurl.com/dance2gether www.tinyurl.com/tripleDance More: www.FlyingMachineArena.org Angela Schoellig ‐ ETH Zurich 24