Physical-Virtual Impedance Control in Ultralightweight and Compliant Dual-Arm Aerial Manipulators

Abstract

Dual-arm aerial manipulation requires the design and development of high performance robotic arms in terms of safety, robustness, and force/torque/impedance control, taking into account the integration in the aerial platform, the strong weight constraints, and the technological limitations of the servo actuators. A compliant joint arm also improves the… (More)

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