IROS 2018poster21 citations
Passive Compliance Control of Aerial Manipulators
Min Jun Kim, Ribin Balachandran, Marco De Stefano, Konstantin Kondak, Christian Ott
Abstract
This paper presents a passive compliance control for aerial manipulators to achieve stable environmental interactions. The main challenge is the absence of actuation along body-planar directions of the aerial vehicle which might be required during the interaction to preserve passivity. The controller proposed in this paper guarantees passivity of the manipulator through a proper choice of end-effector coordinates, and that of vehicle fuselage is guaranteed by exploiting time domain passivity technique. Simulation studies validate the proposed approach.
BibTeX
@inproceedings{iros2018_passivecomplianc,
title = {Passive Compliance Control of Aerial Manipulators},
author = {Min Jun Kim and Ribin Balachandran and Marco De Stefano and Konstantin Kondak and Christian Ott},
booktitle = {IROS 2018},
year = {2018}
}