A Planning-and-Control Framework for Aerial Manipulation of Articulated Objects

While the variety of applications for Aerial Manipulators (AMs) has increased over last years, they are mostly limited to push-and-slide tasks. More complex manipulations dynamic environments poorly addressed and still require handcrafted designs hardware, control, trajectory planning. In this letter we focus on active manipulation articulated objects with AMs. We present a novel planning control approach that allows AM execute interaction maneuvers as little possible priors given by operator. Our framework combines sampling-based predictive generate pose trajectories an impedance controller compliant behaviours, applied fully-actuated flying platform. The leverages physics engine simulate dynamics platform environment in order find optimal motions Experiments two selected examples pulling open door turning valve show feasibility proposed approach.