One of the widely used interaction control techniques is impedance control, where the interaction behavior of the robot is controlled instead of controlling the position/force of the robot independently.
In this research study, the geometric properties of the environment are acquired by the robot through visual perception, instead of relying on a CAD/CAM model of the ideal body.
To allow the UAV to autonomously perform interaction tasks on unknown objects, it needs to visually build a 3D reconstructed model of the object.
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