Stability and Robustness Analysis of Plug-Pulling using an Aerial Manipulator

In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The abrupt change in the dynamical model before and after the separa...

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Veröffentlicht in:arXiv.org 2021-07
Hauptverfasser: Byun, Jeonghyun, Lee, Dongjae, Seo, Hoseong, Jang, Inkyu, Choi, Jeongjun, H Jin Kim
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Sprache:eng
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