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  Differential Flatness and Control of the Aerial Manipulators with Mixed Rigid/Elastic Joints: Controllability from Single Joint Arm to the Multiple Arms

Yüksel, B., Staub, N., Buondonno, G., & Franchi, A. (2016). Differential Flatness and Control of the Aerial Manipulators with Mixed Rigid/Elastic Joints: Controllability from Single Joint Arm to the Multiple Arms. Poster presented at ICRA 2016 Workshop: Aerial Robotics Manipulation: from Simulation to Real-life, Stockholm, Sweden.

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Item Permalink: http://hdl.handle.net/21.11116/0000-0000-7B80-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0000-F379-6
Genre: Poster

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 Creators:
Yüksel, B1, 2, 3, Author              
Staub, N, Author
Buondonno, G, Author
Franchi, A, 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: An aerial manipulator is a flying robot, which can manipulate its environment through physical interaction. We have studied in our previous works the physical interaction of aerial vehicles using IDA-PBC and nonlinear external wrench observers [1, 2]. We also presented the design of a novel light-weight elastic joint-arm for quadrotors [3]. In this poster, we consider the type of aerial manipulators, in which the aerial robot is - equipped with rigid or elastic-joint arm - equipped with multiple manipulator arms with elastic or rigid actuators

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 Dates: 2016-05-20
 Publication Status: Published in print
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 Identifiers: BibTex Citekey: YukselSBF2016
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Title: ICRA 2016 Workshop: Aerial Robotics Manipulation: from Simulation to Real-life
Place of Event: Stockholm, Sweden
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