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M. Ryll, Bicego, D., and Franchi, A., “A Truly Redundant Aerial Manipulator exploiting a Multi-directional Thrust Base”, in 12th IFAC Symposium on Robot Control, Budapest, Hungary, 2018.PDF icon preprint-pdf (995.27 KB)
M. Ryll, Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., and Franchi, A., “6D Physical Interaction with a Fully Actuated Aerial Robot”, in 2017 IEEE Int. Conf. on Robotics and Automation, Singapore, 2017, pp. 5190-5195.PDF icon preprint-pdf (3.04 MB)File video (9.52 MB)
M. Ryll, Bicego, D., and Franchi, A., “Modeling and Control of FAST-Hex: a Fully-Actuated by Synchronized-Tilting Hexarotor”, in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System, Daejeon, South Korea, 2016, pp. 1689-1694.PDF icon preprint-pdf (952.56 KB)File video (22.85 MB)
M. Ryll, Bicego, D., Giurato, M., Lovera, M., and Franchi, A., “FAST-Hex - A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation”, IEEE/ASME Transactions on Mechatronics, 2021.PDF icon preprint-pdf (4.75 MB)File video (36.54 MB)
M. Ryll, Muscio, G., Pierri, F., Cataldi, E., Antonelli, G., Caccavale, F., Bicego, D., and Franchi, A., “6D Interaction Control with Aerial Robots: The Flying End-Effector Paradigm”, The International Journal of Robotics Research, vol. 38, no. 9, pp. 1045-1062, 2019.PDF icon preprint-pdf (6.86 MB)File video-1 (10.22 MB)File video-2 (17.98 MB)File video-3 (13.97 MB)