Force-Based Pose Regulation of a Cable-Suspended Load Using UAVs with Force Bias
C. Gabellieri,M. Tognon,D. Sanalitro,A. Franchi,C. Gabellieri,M. Tognon,D. Sanalitro,A. Franchi
This work studies how force measurement/estimation biases affect the force-based cooperative manipulation of a beam-like load suspended with cables by two aerial robots. Indeed, force biases are especially relevant in a force-based manipulation scenario in which direct communication is not relied upon. First, we compute the equilibrium configurations of the system. Then, we show that inducing an i...
