Variable impedance control for aerial interaction

This paper presents a versatile control architecture for aerial robots in interactive tasks. The control architecture is characterized by its unique capability of varying the apparent impedance of the controlled aerial robot as well as the interaction force, when in contact. This work finds its way in various applications where different impedance and interaction force controllers provide high task performances as well as safety. The feasibility and effectiveness of the proposed controller are demonstrated by experimental results preformed on a quadrotor aerial robot.