@conference {2016l-YueStaFra,
	title = {Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiments},
	booktitle = {2016 IEEE/RSJ Int. Conf. on Intelligent Robots and System},
	year = {2016},
	month = {10/2016},
	pages = {1667-1672},
	address = {Daejeon, South Korea},
	abstract = {We present the dynamic modeling, analysis, and control design of a Planar-Vertical Take-Off and Landing (PVTOL) underactuated aerial vehicle equipped either with a rigid- or an elastic-joint arm. We prove that in both cases the system is exactly linearizable with a dynamic feedback and differentially flat for the same set of outputs (but different controllers). We compare the two cases with extensive and realistic simulations, which show that the rigid-joint case outperforms the elastic-joint case for aerial grasping tasks while the converse holds for link-velocity amplification tasks. We present preliminary experimental results using a actuated joint with variable stiffness (VSA) on a quadrotor platform.},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2016l-YueStaFra-preprint.pdf},
	author = {Burak Y{\"u}ksel and Nicolas Staub and Antonio Franchi}
}
