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B. Yüksel, Secchi, C., Bülthoff, H. H., and Franchi, A., Reshaping the Physical Properties of a Quadrotor through IDA-PBC and its Application to Aerial Physical Interaction, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6258-6265.PDF icon preprint-pdf (553.49 KB)File video (7.15 MB)
B. Yüksel, Secchi, C., Bülthoff, H. H., and Franchi, A., A Nonlinear Force Observer for Quadrotors and Application to Physical Interactive Tasks, in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Besançon, France, 2014, pp. 433-440.PDF icon preprint-pdf (1.11 MB)
B. Yüksel, Mahboubi, S., Secchi, C., Bülthoff, H. H., and Franchi, A., Design, Identification and Experimental Testing of a Light-Weight Flexible-joint Arm for Aerial Physical Interaction, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 870-876.PDF icon preprint-pdf (1.28 MB)File video (10 MB)
B. Yüksel, Buondonno, G., and Franchi, A., Differential Flatness and Control of Protocentric Aerial Manipulators with Any Number of Arms and Mixed Rigid-/Elastic-Joints, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 561-566.PDF icon preprint-pdf (1.94 MB)PDF icon tech_report-pdf (1015.82 KB)File video (5.4 MB)
B. Yüksel, Staub, N., and Franchi, A., Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1667-1672.PDF icon preprint-pdf (482.67 KB)
B. Yüksel, Secchi, C., Bülthoff, H. H., and Franchi, A., Aerial Physical Interaction via IDA-PBC, The International Journal of Robotics Research, vol. 38, no. 4, pp. 403–421, 2019.PDF icon preprint-pdf (7.38 MB)File video (14.22 MB)