Shlok Deshmukh

Global End-Effector Pose Control of an Underactuated Aerial Manipulator Via Reinforcement Learning

Aerial manipulators, which combine robotic arms with multi-rotor drones, face strict constraints on arm weight and mechanical complexity. In this work, we study a lightweight 2-degree-of-freedom (DoF) arm mounted on a quadrotor via a differential mechanism, capable of full six-DoF end-effector pose …