Control methods and architectures for aerial manipulators in physical interaction with humans

The goal of this report is to investigate a possible methodology for human-aerial manipulator interaction. The control scheme presented in this report is inspired from different areas of aerial robotics literature, which will result in an innovative combined scheme. The result is a whole body controller for an aerial manipulator, using optimization methods, which can behave in a compliant manner in response to external forces on its end-effector. The effectiveness of the approach is shown in a realistic simulation environment with human in the loop inputs. The robustness of the system is investigated with respect to measurement noise and parametric uncertainty.