Ribin Balachandran

TL;DR: This article summarizes new aerial robotic manipulation technologies and methods-aerial robotic manipulators with dual arms and multidirectional thrusters-developed in the AEROARMS project for outdoor industrial inspection and maintenance (I&M).

TL;DR: It is shown how the proposed approach successfully fulfills mission requirements, specially those related to system operation through space links and internet channels, involving time delays and data losses of different nature.

TL;DR: The results of novel approaches for passivity-based stability for a particular direct force control method, namely explicit force control, are promising and suggest that these methods can be used for stable and high-bandwidth force control of robotic manipulators.

TL;DR: Both indoor and outdoor experiments show benefits of the proposed telepresence system in achieving advanced aerial manipulation tasks, namely grasping, placing, force exertion and peg-in-hole insertion.

TL;DR: In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots.