Mark van Holland

Toward Physical Human-Robot Interaction Control with Aerial Manipulators: Compliance, Redundancy Resolution, and Input Limits

In this paper we introduce a comprehensive framework to control an aerial manipulator, i.e., an aerial vehicle with a robotic arm, in physical interaction with a human operator or co-worker. The framework uses an admittance control paradigm in order to attain human ergonomy and safety; an interactio…