Aerial Manipulator Systems Gain a New Skill: Achieve Contact-based Landing on a Mobile Platform
Xiangdong Meng,Yuqing He,Haoyang Xi,Jianda Han,Aiguo Song,Xiangdong Meng,Yuqing He,Haoyang Xi,Jianda Han,Aiguo Song
This paper studies a novel application of an aerial manipulator (AM)-the contact-based landing on a mobile platform. An AM is inherently unstable, under-actuated, and usually loses some DOFs while contacting environments. Meanwhile, the AM's flight state is susceptible to uncertain movements of the mobile platform, such as acceleration, sudden stopping, and reversing. To accomplish the contact-bas...
