Over the last decade, there has been an increased interest in developing aerial robotic
platforms that exhibit grasping and perching capabilities not only within the research …

This letter focuses on the problem of handling impacts by means of an aerial manipulator
and proposes a solution that combines the control of the aerial manipulator's end-effector …

The design, modeling and control of a 5 degrees-of-freedom light-weight robot manipulator
is presented in this paper. The proposed robot arm, named Prisma Ultra-Lightweight 5 ARm …

A Cartesian impedance control for UAVs equipped with a robotic arm is presented in this
paper. A dynamic relationship between generalized external forces acting on the structure …

Aerial vehicles are difficult to stabilize, especially when acted upon by external forces. A
hovering vehicle interacting with objects and surfaces must be robust to contact forces and …

In this paper, we present the design, simulation and experimental validation of a control
architecture for an unmanned aerial vehicle endowed with a manipulation system and …

In this paper, the design, modeling and experimental verification of a large workspace,
parallel aerial manipulator is presented. The proposed manipulator has 3 Degrees of …

Aerial Manipulators (AMs) are a special class of underactuated mechanical systems formed
by the join of Unmanned Aerial Vehicles (UAVs) and manipulators. A thorough analysis of …

In this paper we propose a controller, based on an extension of Interconnection and
Damping Assignment-Passivity Based Control (IDA-PBC) framework, for shaping the whole …

This paper presents a hybrid force/motion control framework for quadrotors with a rigid/light
tool attached on it. By transforming the quadrotor dynamics into that of the tool-tip position y …