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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

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Yüksel,  B
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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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.


Cite as: http://hdl.handle.net/21.11116/0000-0000-7B80-5
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