Observer-based Distributed MPC for Collaborative Quadrotor-Quadruped Manipulation of a Cable-Towed Load
Shaohang Xu,Yian Wang,Wentao Zhang,Chin Pang Ho,Lijun Zhu,Shaohang Xu,Yian Wang,Wentao Zhang,Chin Pang Ho,Lijun Zhu
This paper presents a collaborative quadrotor-quadruped robot system for the manipulation of a cable-towed payload. In particular, we aim to solve the challenge from the unknown dynamics of the cable-towed payload. To this end, we first propose novel dynamic models for both the quadrotor and the quadruped robot, taking into account the nonlinear robot dynamics and the uncertainties associated with...
