Explicit Computations and Further Extensive Simulations for Rigid-or 
Elastic-joint Arm: Technical Attachment to: "Aerial Robots with 
Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary 
Experiment" 2016 IEEE/RSJ International Conference on Intelligent Robots and 
Systems, Daejeon, South Korea, October 2016

Yüksel, B; Staub, N; Franchi, A

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Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: "Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016

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Yüksel, B
Project group: Autonomous Robotics & Human-Machine Systems, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Franchi, A
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Yüksel, B., Staub, N., & Franchi, A.(2016). Explicit Computations and Further Extensive Simulations for Rigid-or Elastic-joint Arm: Technical Attachment to: "Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment" 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016. Toulouse, France: Laboratoire d'analyse et d'architecture des systèmes.

Cite as: https://hdl.handle.net/21.11116/0000-0000-7ACA-4

Abstract

This document is a technical attachment to the paper: B. Yüksel and N. Staub and A. Franchi, " Aerial Robots with Rigid/Elastic-joint Arms: Single-joint Controllability Study and Preliminary Experiment ", in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, South Korea, October 2016, that provides the explicit computations on the proofs and some numerical simulations. We also provide an informal recall of exact feedback linearization and differential flatness of the system at hand. In addition, Fig. 7 is given to support the experiment’s section of the aforementioned paper.