Flexible/Elastic-joints for Aerial Physical Interaction and Manipulation

Submitted by Antonio Franchi on

Image This video shows our work on the design and control of elastic-joint arm for physical aerial interaction and manipulation.

See [1] for the paper describing the method used in the following video.
Related works can be also found here [2] and here [3].

References

  1. 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.
  2. 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.
  3. 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.