Title: Passive Compliance Control of Aerial Manipulators,
Abstract: This paper presents a passive compliance control for aerial manipulators to
achieve stable environmental interactions. The main challenge is the absence of
actuation along body-planar directions of the aerial vehicle which might be
required during the interaction to preserve passivity. The controller proposed
in this paper guarantees passivity of the manipulator through a proper choice
of end-effector coordinates, and that of vehicle fuselage is guaranteed by
exploiting time domain passivity technique. Simulation studies validate the
proposed approach.