4 accepted papers
We present a control methodology for underactuated aerial manipulators that is both easy to implement on real systems and able to achieve highly dynamic behaviors. The method is composed by two parts: i) a nominal input/state trajectory generator that takes into account the full-body dynamics of the…
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 differentiall…
In this paper we introduce a particularly relevant class of aerial manipulators that we name protocentric. These robots are formed by an underactuated aerial vehicle, a planar-Vertical Take-Off and Landing (PVTOL), equipped with any number of different parallel manipulator arms with the only propert…
In this paper we introduce the design of a light-weight novel flexible-joint arm for light-weight unmanned aerial vehicles (UAVs), which can be used both for safe physical interaction with the environment and it represents also a preliminary step in the direction of performing quick motions for task…