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
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