Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs
Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi
Abstract
This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested.
BibTeX
@inproceedings{iros2025_manipulationofel,
title = {Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs},
author = {Chiara Gabellieri and Lars Teeuwen and Yaolei Shen and Antonio Franchi},
booktitle = {IROS 2025},
year = {2025}
}