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Maximilian Brunner

8 accepted papers

2023

Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator

Eugenio Cuniato, Christian Geckeler, Maximilian Brunner, Dario Strübin, Elia Bähler, Fabian Ospelt +3
ICRA 2023poster

This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently…

Cited by 8Source ↗Scholar ↗
2022

A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects

Maximilian Brunner, Giuseppe Rizzi, Matthias Studiger, Roland Siegwart, Marco Tognon
RA-L 2022

While the variety of applications for Aerial Manipulators (AMs) has increased over the last years, they are mostly limited to push-and-slide tasks. More complex manipulations of dynamic environments are poorly addressed and still require handcrafted designs of hardware, control, and trajectory plann

Cited by 45Source ↗Scholar ↗
2022

Adaptive Tank-based Control for Aerial Physical Interaction with Uncertain Dynamic Environments Using Energy-Task Estimation

Federico Benzi, Maximilian Brunner, Marco Tognon, Cristian Secchi, Roland Siegwart
RA-L 2022

While aerial manipulation has witnessed noticeable growth as a field in the last decade, most works investigated forms of interaction with static and rigid environments only. Whenever dynamic environments were considered, the employed methods often relied on the knowledge of the model of the environ

Cited by 33Source ↗Scholar ↗
2022

Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects

Maximilian Brunner, Livio Giacomini, Roland Siegwart, Marco Tognon
ICRA 2022poster

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy i…

Cited by 27Source ↗Scholar ↗
2021

Direct Force and Pose NMPC with Multiple Interaction Modes for Aerial Push-and-Slide Operations

Lazar Peric, Maximilian Brunner, Karen Bodie, Marco Tognon, Roland Siegwart
ICRA 2021poster

In this paper, we present a model predictive controller for a fully actuated aerial manipulator to track a hybrid force and pose trajectory at the end-effector in an aerial interaction task. A force sensor at the end-effector is used to detect contact and to directly control the interaction force. W…

Cited by 29Source ↗Scholar ↗
2020

Learning Dynamics for Improving Control of Overactuated Flying Systems

Weixuan Zhang, Maximilian Brunner, Lionel Ott, Mina Kamel, Roland Siegwart, Juan I. Nieto
RA-L 2020

Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model complexity. These vehicles usually have non-negligible, repetitiv

Cited by 14Source ↗Scholar ↗
2020

Trajectory Tracking Nonlinear Model Predictive Control for an Overactuated MAV

Maximilian Brunner, Karen Bodie, Mina Kamel, Michael Pantic, Weixuan Zhang, Juan Nieto +1
ICRA 2020poster

This work presents a method to control omnidirectional micro aerial vehicles (OMAVs) for the tracking of 6-DoF trajectories in free space. A rigid body model based approach is applied in a receding horizon fashion to generate optimal wrench commands that can be constrained to meet limits given by th…

Cited by 41Source ↗Scholar ↗
2019

An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection

Karen Bodie, Maximilian Brunner, Michael Pantic, Stefan Walser, Patrick Pfändler, Ueli Angst +2
RSS 2019poster

This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped with a rigidly mounted end-effector, and is able to exert a 6…

Cited by 132Source ↗PDF ↗Scholar ↗