Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

Aerial Tele-Manipulation with Passive Tool via Parallel Position/Force Control

This paper addresses the problem of unilateral contact interaction by an under-actuated quadrotor UAV equipped with a passive tool in a bilateral teleoperation scheme. To solve the challenging control problem of force regulation in contact interaction while maintaining flight stability and keeping t...

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Bibliographic Details
Main Authors: Mostafa Mohammadi, Davide Bicego, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo
Format: Article
Language:English
Published: MDPI AG 2021-09-01
Series:Applied Sciences
Subjects:
aerial robotics
aerial manipulation
force control
bilateral teleoperation
haptics
quadrotor
Online Access:https://www.mdpi.com/2076-3417/11/19/8955

Internet

https://www.mdpi.com/2076-3417/11/19/8955

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