6 papers · 1 filter
Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator
Eugenio Cuniato, Christian Geckeler, Maximilian Brunner +6
This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-o…
Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
Maximilian Brunner, Livio Giacomini, Roland Siegwart +1
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environmen…
Learning dynamics for improving control of overactuated flying systems
Weixuan Zhang, Maximilian Brunner, Lionel Ott +3
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspe…
Design and optimal control of a tiltrotor micro aerial vehicle for efficient omnidirectional flight
Mike Allenspach, Karen Bodie, Maximilian Brunner +5
Omnidirectional micro aerial vehicles are a growing field of research, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete…
Active Interaction Force Control for Contact-Based Inspection with a Fully Actuated Aerial Vehicle
Karen Bodie, Maximilian Brunner, Michael Pantic +5
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contac…
An Omnidirectional Aerial Manipulation Platform for Contact-Based Inspection
Karen Bodie, Maximilian Brunner, Michael Pantic +5
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspectio…