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1 - Introduction, PX4, Second Drone - Coggle Diagram

- - - - 5 - Aerial Manipulator Development
        
        6 - Interaction Controller Design
        
        7 - Closed-Loop Analysis
        
        8 - Interaction Experiments
        
        9 - Conclusions
        
        Results
        
        Oscillation Reduction
        
        Goal
        
        Validation of Analysis
        
        Procedure / Rig / Elastic Bands
        
        External Wrench Estimation
        
        Passivity
        
        Stability
        
        Limit Cycles
        
        Define Constraints
        
        Assumptions
        
        Battery Usage vs Stiffness
        
        Admittance Controller
        
        RLS Parameter Identification
        
        Variable Stiffness
        
        PX4 Modifications Diagram
        
        Objectives
        
        Vector Thrust Integration
        
        System Architecture
        
        Simulink Interface
        
        Motion Capture
        
        Aircraft
        
        Modifications
        
        Link to Topic 2
        
        Manipulator
        
        Mechanism Formulas
        
        Actuation
        
        Dynamixel Driver
        
        Motivation
        
        Spreading branches
        
        Avocado?
        
        Objects?
        
        Force Limitation