M
Marco Tognon
Researcher at Institute of Robotics and Intelligent Systems
Publications - 72
Citations - 1022
Marco Tognon is an academic researcher from Institute of Robotics and Intelligent Systems. The author has contributed to research in topics: Computer science & Robot. The author has an hindex of 13, co-authored 53 publications receiving 517 citations. Previous affiliations of Marco Tognon include ETH Zurich & University of Toulouse.
Papers
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Journal ArticleDOI
A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants
Marco Tognon,Hermes Amadeus Tello Chavez,Enrico Gasparin,Quentin Sable,Davide Bicego,Anthony Mallet,Marc Lany,Gilles Santi,Bernard Revaz,Juan Cortés,Antonio Franchi +10 more
TL;DR: The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle—to enhance physical interaction capabilities—endowed with a 2-DoFs lightweight arm—to enlarge its workspace and makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms.
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Past, Present, and Future of Aerial Robotic Manipulators
TL;DR: In this article, the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment, are analyzed.
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Aerial Co-Manipulation with Cables: The Role of Internal Force for Equilibria, Stability, and Passivity
TL;DR: It is proved that if a nonzero internal force is chosen, then the asymptotic stabilization of any desired beam attitude can be achieved with a decentralized and communicationless master–slave admittance controller.
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Dynamics, Control, and Estimation for Aerial Robots Tethered by Cables or Bars
Marco Tognon,Antonio Franchi +1 more
TL;DR: In this article, the authors consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link, and provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties such as differential flatness, controllability, and observability.
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Design of multirotor aerial vehicles: A taxonomy based on input allocation:
Mahmoud Hamandi,Federico Usai,Quentin Sable,Nicolas Staub,Nicolas Staub,Marco Tognon,Marco Tognon,Antonio Franchi,Antonio Franchi +8 more
TL;DR: In this paper, the effect of multi-rotor aerial vehicle designs on their abilities in terms of tasks and system properties is reviewed. And a general taxonomy is proposed to characterize and describe multirotor UAVs.