Published December 14, 2020 | Version v1
Journal article Open

Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms

  • 1. GRVC Robotics Labs, University of Seville


This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relative position of the aerial platform wrt (with respect to) the grabbing point. A deflection-based Cartesian impedance control was designed for the compliant arm, allowing the generation of forces that help the aerial platform to maintain the reference position when it is disturbed due to external forces. The proposed methods were validated in an indoor testbed with a lightweight and compliant dual arm aerial manipulation robot.


This work was funded by the AERIAL-CORE project (H2020-2019-871479) funded by the European Commission, and by the ARM-EXTEND (DPI2017-89790-R) and ARTIC (RTI2018-102224-B-I00) projects funded by the Spanish Ministerio de Economia, Industria, y Competitividad.



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Additional details


GRIFFIN – General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety 788247
European Commission
AERIAL-CORE – AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety 871479
European Commission