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  Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments

Yüksel, B., Staub, N., & Franchi, A. (2016). Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1667-1672). Piscataway, NJ, USA: IEEE.

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Item Permalink: https://hdl.handle.net/21.11116/0000-0000-7A5E-F Version Permalink: https://hdl.handle.net/21.11116/0000-0003-E7F6-3
Genre: Conference Paper

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 Creators:
Yüksel, B1, 2, 3, Author           
Staub, N, Author
Franchi, A3, Author           
Affiliations:
1Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_2528704              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              
3Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

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 Abstract: We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.

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 Dates: 2016-10
 Publication Status: Issued
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 Identifiers: DOI: 10.1109/IROS.2016.7759268
BibTex Citekey: YukselSF2016
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016)
Place of Event: Daejeon, Korea
Start-/End Date: 2016-10-09 - 2016-10-14

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Title: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1667 - 1672 Identifier: ISBN: 978-1-5090-3762-9