Momentum Control of an Underactuated Flying Humanoid Robot

The letter takes the first step toward the development of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from technologies and methods developed for Whole-Body Control and Aerial Man...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 3; no. 1; pp. 195 - 202
Main Authors:	Pucci, Daniele, Traversaro, Silvio, Nori, Francesco
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01-01-2018 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Acceleration Aerial systems Computer simulation Control methods End effectors Force Humanoid Humanoid robots Locomotion mechanics and control Mobile robots Momentum motion control Robot kinematics Robot sensing systems Robots Rotary wing aircraft Thrust
Online Access:	Get full text
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