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Author

Darwin Liu

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Preprint Sep 2026

Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator

The results demonstrate that robust simultaneous five-DoF end-effector pose and contact-force tracking is achievable on a standard underactuated quadrotor with a simple, rigid, single-link arm, without requiring a fully actuated platform, a complex arm, or dedicated force/torque sensing.

Darwin Liu, T. Keviczky, Si-Hao Sun · 0 citations

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