@conference {2014b-GioRylPraBueFra,
	title = {Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector},
	booktitle = {2014 IEEE Int. Conf. on Robotics and Automation},
	year = {2014},
	month = {05/2014},
	pages = {6278-6284},
	address = {Hong Kong, China},
	abstract = {In this paper the problem of a quadrotor that physically interacts with the surrounding environment through a rigid tool is considered. We present a theoretical design that allows to exert an arbitrary 3D force by using a standard near-hovering controller that was originally developed for contact-free flight control. This is achieved by analytically solving the nonlinear system that relates the quadrotor state, the force exerted by the rigid tool on the environment, and the near-hovering controller action at the equilibrium points, during any generic contact. Stability of the equilibria for the most relevant actions (pushing, releasing, lifting, dropping, and left-right shifting) are proven by means of numerical analysis using the indirect Lyapunov method. An experimental platform, including a suitable tool design, has been developed and used to validate the theory with preliminary experiments.},
	keywords = {Aerial Physical Interaction, Aerial Robotics, UAV hardware platforms},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014b-GioRylPraBueFra-preprint.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2014b-GioRylPraBueFra.mp4},
	author = {Guido Gioioso and Markus Ryll and Domenico Prattichizzo and Heinrich H. B{\"u}lthoff and Antonio Franchi}
}
