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Aerial Physical Interaction
M. Tognon and Franchi, A., Nonlinear Observer for the Control of Bi-Tethered Multi Aerial Robots, in 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, 2015, pp. 1852-1857.PDF icon preprint-pdf (1.45 MB)File video (8.31 MB)
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, 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)
A. Franchi, Towards Autonomous-collaborative and Haptic-tele-operated UAVs with Fully-onboard State Estimation and Physical Interaction Capabilities, in 2013 IROS Work. on From Remotely-Controlled to Autonomous-Collaborative Robots, Tokyo, Japan, 2013.
G. Gioioso, Mohammadi, M., Franchi, A., and Prattichizzo, D., A Force-based Bilateral Teleoperation Framework for Aerial Robots in Contact with the Environment, in 2015 IEEE Int. Conf. on Robotics and Automation, Seattle, WA, 2015, pp. 318-324.PDF icon preprint-pdf (5.77 MB)File video (9.13 MB)
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., Hand Driven UAV Formation for Cooperative Grasping and Transportation: the Flying Hand, RSS 2013 Work. on Aerial Mobile Manipulation. Berlin, Germany, 2013.
G. Nava, Sablé, Q., Tognon, M., Pucci, D., and Franchi, A., Direct Force Feedback Control and Online Multi-task Optimization for Aerial Manipulators, IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 331-338, 2020.PDF icon preprint-pdf (3.35 MB)File video  (13.67 MB)
G. Gioioso, Franchi, A., Salvietti, G., Scheggi, S., and Prattichizzo, D., The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 4335-4341.PDF icon preprint-pdf (2.89 MB)File video (4.44 MB)
M. Tognon, Dash, S. S., and Franchi, A., Observer-based Control of Position and Tension for an Aerial Robot Tethered to a Moving Platform, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 732-737, 2016.
Also selected for presentation at the 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm , Sweden
PDF icon preprint-pdf (1.42 MB)File video (8.54 MB)
G. Gioioso, Ryll, M., Prattichizzo, D., Bülthoff, H. H., and Franchi, A., Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector, in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014, pp. 6278-6284.PDF icon preprint-pdf (1.2 MB)File video (8.81 MB)