Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces

Ran Jiao, Ramy Rashad, Davide Bicego, Wusheng Chou, Stefano Stramigioli. Observer-based Geometric Impedance Control of a Fully-Actuated Hexarotor for Physical Sliding Interaction with Unknown Generic Surfaces. Journal of Intelligent and Robotic Systems, 102(4):74, 2021. [doi]

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