Aerial Manipulation Survey
A survey appearing in the IEEE Robotics and Automation Letters
Robotics, automation, websites & more
Fabio Ruggiero's website
Welcome to the website of Fabio Ruggiero. Robotics, automation, websites and more.
Recent works
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Aerial Manipulation Survey
Aerial manipulation aims at combining the versatility and the agility of some aerial platforms with the manipulation capabilities of robotic arms. This letter tries to collect the results reached by the research community so far within the field of aerial manipulation, especially from the technological and control point of view. A brief literature review of general aerial robotics and space manipulation is carried out as well.
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Nonprehensile Manipulation Survey
A survey appearing in the IEEE Robotics and Automation Letters
Nonprehensile Manipulation Survey
Nonprehensile dynamic manipulation can be reasonably considered as the most complex manipulation task. It might be argued that such a task is still rather far from being fully solved and applied in robotics. This survey tries to collect the results reached so far by the research community about planning and control in the nonprehensile dynamic manipulation domain. A discussion about current open issues is addressed as well.
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Robotic Hula-Hoop
Nonprehensile manipulation of an underactuated mechanical system: the robotic hula-hoop
Robotic Hula-Hoop
A mechanical system consisting of a hoop and a pole is considered. The pursued goal is to track a trajectory in the unactuated coordinates and to stabilize the actuated ones simultaneously. We show that the actuated coordinates can be stabilized by exploiting the null space of the coupling inertia matrix without affecting the performance in the underactuated coordinates tracking.
