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An estimator of external generalized forces (force plus moments) acting on aerial platforms, and based on the momentum of the mechanical system, is proposed for the control of VToL UAVs together with a hierarchical architecture separating the translational and rotational dynamics of the vehicle. The closed-loop system equations are shaped as mechanical(More)
After discussing the rationale for an LHC upgrade and various performance limitations of the nominal LHC, several alternative upgrade scenarios and options are presented. There are two reasons for considering an upgrade of the LHC after about 6 years of operation. They are illustrated in Fig. 1, which goes back to J. Strait [1]. The figure illustrates two(More)
—A method for fast visual grasping of unknown objects with a multi-fingered robotic hand is presented in this paper. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The reconstruction algorithm makes use of images taken by a camera carried by the robot arm. A virtual elastic(More)
— A Cartesian impedance control for UAVs equipped with a robotic arm is presented in this paper. A dynamic relationship between generalized external forces acting on the structure and the system motion, which is specified in terms of Cartesian space coordinates, is provided. Through a suitable choice of such variables and with respect to a given task,(More)
An important issue in controlling a multi-fingered robotic hand grasping an object is the evaluation of the minimal contact forces able to guarantee the stability of the grasp and its feasibility. This problem can be solved online if suitable sensing information is available. In detail, using finger tactile information and contact force measurements, an(More)
In this paper a method for fast visual grasp of unknown objects with a multi-fingered hand is presented. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The former uses an elastic reconstruction surface, whose dimensions are assigned initially by a preshaping process, and which shrinks(More)
In this paper, the problem of motion coordination of redundant multi-fingered robotic hands is considered. A kinematic model is introduced, which allows the object pose to be computed from the joint variables of each finger as well as from a suitable set of contact variables. Hence, a local planning method for dexterous manipulation, based on a prioritized(More)
In this paper, a kinematic model for motion coordination of a redundant multi-fingered robotic hand is derived, which allows to compute the object pose from the joint variables of each finger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian(More)