Platforms with Multi-directional Total Thrust

Antonio Franchi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

1 Citation (Scopus)


The chapter provides an overview of the basic modeling and the intrinsic properties of aerial platforms with multi-directional total thrust ability. When also fully-actuated, such platforms can modify the total wrench in body frame in any direction, thus allowing the control of position and orientation independently. Therefore, they are best suited for dexterous tasks, physical interaction, and for carrying aerial manipulators, because they do not suffer from the underactuation of standard collinear multirotors. The chapter includes a rigorous classification, a discussion on the possible input coupling, and on the capabilities and pitfalls of inverse-dynamics control approach for such platforms.

Original languageEnglish
Title of host publicationAerial Robotic Manipulation
Subtitle of host publicationResearch, Development and Applications
EditorsAnibal Ollero, Bruno Siciliano
Number of pages13
ISBN (Electronic)978-3-030-12945-3
ISBN (Print)978-3-030-12944-6
Publication statusPublished - 2019
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


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