Aerial manipulators

An aerial manipulator is a robotic system, which has the capacity to fly and at the same time to manipulate objects in its environment by applying reasonable forces and torques. Most commonly they consist of a flying robot and at least one manipulator arm. In such robots, the great workspace and the agility of aerial robots meet with the dexterity of conventional manipulators. This system breaks ground to many different robotic applications, e.g., pick and place, aerial physical interaction, and aerial grasping. Although aerial manipulators open new doors for various robotic tasks, their control and motion planning is not trivial, since they are an interconnection of multiple nonlinear robotic systems. For this reason, it is important to analyze their system dynamics and develop control algorithms dealing not only with the problem of tracking the outputs we are interested in, but also with the internal dynamics of the system and how they are coupled with each other.

Related references

  1. M. Brunner, Rizzi, G., Studiger, M., Siegwart, R., and Tognon, M., A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10689-1069, 2022. Pdf
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  3. F. Benzi, Brunner, M., Tognon, M., Secchi, C., and Siegwart, R., Adaptive Tank-based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation, IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9129-9136, 2022. Pdf
  4. C. Lanegger, Ruggia, M., Tognon, M., Ott, L., and Siegwart, R., Aerial Layouting: Design and Control of a Compliant and Actuated End-Effector for Precise In-flight Marking on Ceilings, in Robotics: Science and System XVIII, New York City (USA), 2022. Pdf
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  15. M. Hamandi, Sawant, K., Tognon, M., and Franchi, A., Omni-Plus-Seven (O 7 + ): An Omnidirectional Aerial Prototype with Minimal Uni-directional Thrusters, in 2020 International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020. Pdf
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