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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)
— 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)
The dynamic model of a UAV with an attached robotic arm is derived in a symbolic matrix form through the Euler-Lagrangian formalism. A Cartesian impedance control, which provides a dynamic relationship between external generalized forces acting on the structure and the system motion, is then designed. The hovering control of a quadrotor, equipped with a(More)
In this paper, a kinematic model of a dual-arm/hand robotic system is derived, which allows the computation of the object position and orientation from the joint variables of each arm and each finger as well as from a suitable set of contact variables. On the basis of this model, a motion planner is designed, where the kinematic redundancy of the system is(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(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 kinematic model for motion coordination and control of a redundant robotic dual-arm/hand system is derived, which allows to compute the object pose from the joint variables of each arm and each finger as well as from a suitable set of contact variables. This model is used to design a two-stage control scheme to achieve a desired object(More)
— A multilayer architecture to control multirotor UAVs equipped with a servo robot arm is proposed in this paper. The main purpose is to control the aerial platform taking into account the presence of the moving manipulator. Three layers are considered in this work. First, a novel mechanism is proposed considering a moving battery to counterweight the(More)
—In this paper an image-based visual-servoing control law for the coordinated landing of a VToL UAV on an actuated landing platform is proposed. The landing platform is carried by a mobile manipulator composed of a mobile platform and a robotic arm. The UAV is endowed with a downward camera employed for the coordination of the landing manoeuvres. The(More)