Developing an aerial manipulator prototype: physical interaction with the environment

Matteo Fumagalli, Roberto Naldi, A. Macchelli, Alessandro Macchelli, Francesco Forte, Arvid Quintijn Leon Keemink, Stefano Stramigioli, Raffaella Carloni, Lorenzo Marconi

    Research output: Contribution to journalArticleAcademicpeer-review

    107 Citations (Scopus)


    This article focuses on the design, modeling, and control of an aerial manipulator prototype, i.e., an innovative configuration consisting of a miniature quadrotor helicopter endowed with a robotic manipulator. The overall system is designed to accomplish operations that require physical interaction with the surrounding environment while remaining airborne. To investigate the dynamical model of the aerial manipulator, a simple planar benchmark is used to analyze the interactions between the quadrotor, the robotic manipulator, and the environment. A control strategy for the planar system is designed to guarantee robustness in the presence or absence of contacts. Experiments on a real setup validate the control in the two different scenarios in which the aerial manipulator is either freely flying or physically interacting with the environment.
    Original languageUndefined
    Pages (from-to)41-50
    Number of pages10
    JournalIEEE robotics & automation magazine
    Issue number3
    Publication statusPublished - 11 Aug 2014


    • EWI-25039
    • IR-91718
    • METIS-306016

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