AIConfPaper
← Search

Anibal Ollero

14 accepted papers

2026

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Antonio Gonzalez-Morgado, Jonas Soueidan, Guillermo Heredia, Anibal Ollero, Philippe Fraisse, Marco Tognon +1
ICRA 2026poster

Aerial robots are transitioning from traditional surveillance and monitoring roles to more advanced tasks involving physical interaction. Despite this progress, physical Human-Aerial Robot Interaction remains largely underexplored due to the complexity and stability-related issues of such platforms.…

Cited by 0Source ↗Scholar ↗
2026

Equilibrium State for a Tailless Flapping Wing Micro Air Vehicle in Forward Flight

Ernesto Sanchez-Laulhe, Guido de Croon, Anibal Ollero
ICRA 2026poster

Flapping wing Micro Air Vehicles (FWMAVs) hold great potential for real-world applications but are currently still hard to model. In this article, a simplified analysis of the equilibrium state of a tailless FWMAV in forward flight is presented. The definition of the equilibrium state complements pr…

Cited by 0Source ↗Scholar ↗
2026

How to Shake Trees with Aerial Manipulators? a Theoretical and Experimental Study

Antonio Gonzalez-Morgado, Eugenio Cuniato, Guillermo Heredia, Anibal Ollero, Roland Siegwart, Marco Tognon
ICRA 2026poster

Aerial manipulators are advancing beyond traditional inspection roles to enable complex interactions with flexible structures. Applications such as structural health monitoring, and especially agricultural tasks like fruit harvesting or environmental monitoring, require inducing controlled vibration…

Cited by 0Source ↗Scholar ↗
2024

Lightweight and Compliant Bilateral Teleoperation System with Anthropomorphic Arms for Aerial and Ground Service Operations

Alejandro Suarez, Antonio Gonzalez-Morgado, Anibal Ollero
ICRA 2024poster

This paper presents a bilateral teleoperation system based on smart servos for the realization of dexterous manipulation tasks with aerial robots or in ground service applications, facilitating the transferability of cognitive capabilities of human workers to robots operating remotely or in high alt…

Cited by 3Source ↗Scholar ↗
2024

Model-Based Approach for Lateral Maneuvers of Bird-Size Ornithopter

Ernesto Sanchez-Laulhe, Álvaro C. Satué Crespo, Saeed Rafee Nekoo, Anibal Ollero
ICRA 2024poster

A model-based approach for lateral maneuvering of flapping wing UAVs in closed spaces is presented. Bird-size ornithopters do not have asymmetric actuation in the wing due to mechanical complexity, so they rely upon the tail for lateral maneuvering. The prototype E-Flap can deflect the vertical tail…

Cited by 1Source ↗Scholar ↗
2024

Representing On-Orbit Rendezvous and Proximity Operations with Fully-Actuated Multirotor Aerial Platforms

Alessandro Garzelli, Kumud Darshan Yadav, Alessandro Scalvini, Antonio Gonzalez-Morgado, Alejandro Suarez, Anibal Ollero
ICRA 2024poster

Ground testing is of paramount importance to verify and validate space operations and the associated control algorithms before on-orbit deployment. Although state-of-the-art facilities are capable of reproducing zero-G environment with high degree of fidelity, these infrastructures can be complement…

Cited by 1Source ↗Scholar ↗
2023

Leader-Follower Formation Control of a Large-Scale Swarm of Satellite System Using the State-Dependent Riccati Equation: Orbit-to-Orbit and In-Same-Orbit Regulation

Saeed Rafee Nekoo, Jie Yao, Alejandro Suarez, Raul Tapia, Anibal Ollero
IROS 2023poster

The state-dependent Riccati equation (SDRE) is a nonlinear optimal controller with a flexible structure which is one of the main advantages of this method. Here in this work, this flexibility is used to present a novel design for handling a soft constraint for state variables (trajectories). The con…

Cited by 3Source ↗Scholar ↗
2023

Performance Comparison of Teleoperation Interfaces for Ultra-Lightweight Anthropomorphic Arms

Filip Zorić, Alejandro Suarez, Goran Vasiljević, Matko Orsag, Zdenko Kovačić, Anibal Ollero
IROS 2023poster

This paper presents a comparative performance evaluation of three different teleoperation interfaces for very low weight (<3 kg) anthropomorphic dual arms intended to conduct complex manipulation tasks involving a certain level of dexterity, accuracy and agility, either in ground service or in aeria…

Cited by 4Source ↗Scholar ↗
2019

Small-Scale Compliant Dual Arm with Tail for Winged Aerial Robots

Alejandro Suarez, Manuel Perez, Guillermo Heredia, Anibal Ollero
IROS 2019poster

Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may…

Cited by 7Source ↗Scholar ↗
2018

First Experimental Results on Motion Planning for Transportation in Aerial Long-Reach Manipulators with Two Arms

Alvaro Caballero, Alejandro Suarez, Fran Real, Victor M. Vega, Manuel Bejar, Angel Rodriguez-Castaño +1
IROS 2018poster

This paper presents the motion planning of a novel aerial robotic system with a long-bar extension and two arms for long-reach manipulation in cluttered environments. The novel aerial long-reach manipulator includes a passive revolute joint between the aerial platform and the dual arm. This feature…

Cited by 43Source ↗Scholar ↗
2018

Lightweight and Compliant Long Reach Aerial Manipulator for Inspection Operations

A. Suarez, P. Sanchez-Cuevas, M. Fernandez, M. Perez, Guillermo Heredia, Anibal Ollero
IROS 2018poster

The proximity between the multirotor blades and the environmental obstacles restricts the application of aerial manipulators in inspection tasks due to the risk of impacts, the limitation in the reach of the arm, and the physical interactions. This paper presents a long reach aerial manipulator cons…

Cited by 47Source ↗Scholar ↗
2017

Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation

Alejandro Suarez, Pablo Ramon Soria, Guillermo Heredia, Begoña C. Arrue, Anibal Ollero
IROS 2017poster

This paper presents a low weight (1.3 kg), human size dual arm system with compliant joints designed for aerial manipulation with a multirotor platform. Each arm provides four degrees of freedom (DOF) for end effector positioning in a kinematic configuration close to the human arm: shoulder pitch, r…

Cited by 71Source ↗Scholar ↗
2016

Lightweight compliant arm with compliant finger for aerial manipulation and inspection

Alejandro Suarez, Guillermo Heredia, Anibal Ollero
IROS 2016poster

This paper presents the design and experimental validation of a compliant and lightweight 3-DOF robotic arm - shoulder yaw, shoulder pitch and elbow pitch joints - equipped with a compliant finger module intended for aerial inspection and manipulation in contact with the environment. A simple transm…

Cited by 85Source ↗Scholar ↗