ICRA 2020poster11 citations
Preliminary Study of an Aerial Manipulator with Elastic Suspension
Arda Yiğit, Gustave Grappe, Loïc Cuvillon, Sylvain Durand, Jacques Gangloff
Abstract
This paper presents a preliminary study of an Aerial Manipulator suspended by a spring to a robotic carrier. The suspended aerial manipulator is actuated by six pairs of contra-rotating propellers generating a 6-DoF wrench. Simulations show path following results using a computed torque (feedback linearization) control strategy. Active vibration canceling is validated experimentally on a first prototype.
BibTeX
@inproceedings{icra2020_preliminarystudy,
title = {Preliminary Study of an Aerial Manipulator with Elastic Suspension},
author = {Arda Yiğit and Gustave Grappe and Loïc Cuvillon and Sylvain Durand and Jacques Gangloff},
booktitle = {ICRA 2020},
year = {2020}
}