G
Giuseppe Muscio
Researcher at University of Basilicata
Publications - 18
Citations - 663
Giuseppe Muscio is an academic researcher from University of Basilicata. The author has contributed to research in topics: Control theory & Trajectory. The author has an hindex of 12, co-authored 18 publications receiving 487 citations.
Papers
More filters
Proceedings ArticleDOI
6D physical interaction with a fully actuated aerial robot
Markus Ryll,Giuseppe Muscio,Francesco Pierri,Elisabetta Cataldi,Gianluca Antonelli,Fabrizio Caccavale,Antonio Franchi +6 more
TL;DR: An extensive experimental campaign shows that the Tilt-Hex is able to outperform the classical underactuated multi-rotors in terms of stability, accuracy and dexterity and represent one of the best choice at date for tasks requiring aerial physical interaction.
Journal ArticleDOI
6D interaction control with aerial robots: The flying end-effector paradigm
Markus Ryll,Giuseppe Muscio,Francesco Pierri,Elisabetta Cataldi,Gianluca Antonelli,Fabrizio Caccavale,Davide Bicego,Antonio Franchi +7 more
TL;DR: A novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches is presented.
Proceedings ArticleDOI
Control of quadrotor aerial vehicles equipped with a robotic arm
TL;DR: A novel hierarchical motion control scheme for quadrotor aerial vehicles equipped with a manipulator is proposed and a simulation case study is developed to demonstrate the effectiveness of the approach in the presence of disturbances and unmodeled dynamics.
Journal ArticleDOI
Adaptive control for UAVs equipped with a robotic arm
TL;DR: In this article, a two-layer controller is proposed for trajectory tracking control for quadrotor aerial vehicles equipped with a robotic manipulator, where in the top layer an inverse kinematics algorithm computes the motion references for the actuated variables while in the bottom layer, an adaptive motion control algorithm is in charge of tracking the motion reference.
Proceedings ArticleDOI
Impedance Control of an aerial-manipulator: Preliminary results
Elisabetta Cataldi,Giuseppe Muscio,M. A. Trujillo,Y. Rodriguez,Francesco Pierri,Gianluca Antonelli,Fabrizio Caccavale,Antidio Viguria,Stefano Chiaverini,Anibal Ollero +9 more
TL;DR: An impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment.