Compliant Aerial Manipulator in Simulation

Finished: 2021-11-30

Individual assignment

The implementation of an admittance controller that acts as an outer loop to an inner loop low-level controller for an aerial manipulator. For the purpose of the assignment, this would be tested in a Gazebo simulation environment.

The simulation should be interactive. one should be able to interact with the robot exerting forces and torques on its end-effector. The robot should be able to sense the exerted forces and torques in the simulated environment.