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Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces

Jiao, R; Rashad, R; Bicego, D; Chou, WS; Stramigioli, S

Jiao, R (corresponding author), Beijing Univ Technol, Fac Mat & Mfg, Beijing Key Lab Adv Mfg Technol, Beijing 100124, Peoples R China.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021; 102 (4):

Abstract

Aerial physical interaction is a promising field for unmanned aerial vehicles in future applications. This paper presents a novel paradigm for automat......

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