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cs.RO2026
Passive Stiffness Shaping in Cable-Suspended Aerial Manipulation via Movable Compliant Anchors
Antonio Franchi, Amr Afifi
Cable-suspended aerial manipulation offers a lightweight architecture for cooperative transportation and physical interaction, yet the passive mechanical response perceived at the…
cs.RO2026
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
Benedetta Rota, Mirko Mizzoni, Amr Afifi +2
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear d…
cs.RO2026
Impact-Robust Posture Optimization for Aerial Manipulation
Amr Afifi, Ahmad Gazar, Javier Alonso-Mora +2
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the b…