# Closed-Loop Behavior of an Autonomous Helicopter Equipped with a Robotic Arm for Aerial Manipulation Tasks

> This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other aerial robots. The paper presents a controller for the particular case of a small-scaled autonomous helicopter equipped with a robotic arm for aerial manipulation. Two types of...

## Metadata
- Authors: Konstantin Kondak, Kai Krieger, Alin Albu‐Schäffer, Marc Schwarzbach, Maximilian Laiacker, Iván Maza, Ángel Rodríguez Castaño, Anı́bal Ollero
- Journal: International Journal of Advanced Robotic Systems
- Published: 2013-01-01
- DOI: https://doi.org/10.5772/53754
- Citations: 100
- Source: OpenAlex
- Access: Open Access

## Technology Hub
- Hub: Robotics & Autonomous Systems
- Discipline: Engineering / AI
- Hub URL: https://science-database.com/technology/robotics
- Hub llms.txt: https://science-database.com/technology/robotics/llms.txt

## Abstract
This paper is devoted to the control of aerial robots interacting physically with objects in the environment and with other aerial robots. The paper presents a controller for the particular case of a small-scaled autonomous helicopter equipped with a robotic arm for aerial manipulation. Two types of influences are imposed on the helicopter from a manipulator: coherent and non-coherent influence. In the former case, the forces and torques imposed on the helicopter by the manipulator change with frequencies close to those of the helicopter movement. The paper shows that even small interaction forces imposed on the fuselage periodically in proper phase could yield to low frequency instabilities and oscillations, so-called phase circles.

## Links
- DOI: https://doi.org/10.5772/53754
- OpenAlex: https://openalex.org/W2120320883
- PDF: https://doi.org/10.5772/53754
- JSON API: https://science-database.com/api/v1/technology/robotics

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Paper ID: oa-W2120320883 | Hub: robotics