A four-link aerial robot combines rotor-based impedance control with joint-based admittance control to slide stably along a sloped, unmodeled surface.
Design, modeling, and control of an aerial robot dragon: A dual-rotor- embedded multilink robot with the ability of multi-degree-of-freedom aerial transformation,
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Hybrid Impedance-Admittance Control with Multi-Link Aerial Robot for Contact-Rich Surface Sliding Task
A four-link aerial robot combines rotor-based impedance control with joint-based admittance control to slide stably along a sloped, unmodeled surface.