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2024 | OriginalPaper | Chapter

12. Aerial Manipulator Interaction with the Environment

Authors : Santos M. Orozco-Soto, Eugenio Cuniato, Jonathan Cacace, Mario Selvaggio, Fabio Ruggiero, Vincenzo Lippiello, Bruno Siciliano

Published in: Control of Autonomous Aerial Vehicles

Publisher: Springer Nature Switzerland

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Abstract

This chapter investigates the problem of an aerial manipulator interacting with the environment. The chapter is split into two parts. The former considers an aerial device with tilting propellers that, thanks to a super-twisting slide mode controller, can control the interaction force for inspection task purposes. The latter proposes a hardware-in-the-loop simulator for human cooperation and environmental interaction with an aerial manipulator. This part includes the mathematical background and theoretical derivation with insights into the relative stability proofs. Simulations in a highly realistic environment endowed with a physics engine and real experiments validate both the proposed approaches.

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Metadata
Title
Aerial Manipulator Interaction with the Environment
Authors
Santos M. Orozco-Soto
Eugenio Cuniato
Jonathan Cacace
Mario Selvaggio
Fabio Ruggiero
Vincenzo Lippiello
Bruno Siciliano
Copyright Year
2024
DOI
https://doi.org/10.1007/978-3-031-39767-7_12

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