Nonlinear Model Predictive Control for Human-Robot Handover with Application to the Aerial Case
Gianluca Corsini,Martin Jacquet,Hemjyoti Das,Amr Afifi,Daniel Sidobre,Antonio Franchi,Gianluca Corsini,Martin Jacquet,Hemjyoti Das,Amr Afifi,Daniel Sidobre,Antonio Franchi
In this article, we consider the problem of delivering an object to a human coworker by means of an aerial robot (AR). To this aim, we present an ergonomics-aware Nonlinear Model Predictive Control (NMPC) designed to autonomously perform the handover. The method is general enough to be applied to any multi-rotor aerial vehicle (MRAV) with a minimal adaptation of the robot model. The formulation of...
