{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,15]],"date-time":"2026-05-15T18:59:14Z","timestamp":1778871554870,"version":"3.51.4"},"reference-count":27,"publisher":"Emerald","issue":"3","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,4,13]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>This paper aims to present a fully actuated aerial manipulator (AM) with a robust motion\/force hybrid controller for conducting contact-typed inspection tasks in industrial plants.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>An AM is designed based on a hexarotor with tilted rotors and a rigidly attached end effector. By tilting the rotors, the position and attitude of the AM can be controlled independently, and the AM can actively exert forces on industrial facilities through the rigidly attached end effector. A motion\/force hybrid controller is proposed to perform contact-typed inspection tasks. The contact-typed inspection task is divided into the approach phase and the contact phase. In the approach phase, the AM automatically approaches the contact surface. In the contact phase, a motion\/force hybrid controller is used for contact-typed inspection. Finally, a disturbance observer (DOB) is used to estimate external disturbances and used as feedforward compensation.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>The proposed AM can slowly approach the contact surface without significant impact in the contact phase. It can realize constant force control in the direction normal to the contact surface in the contact phase, whereas the motion of the remaining directions can be controlled by the operator. The use of the DOB ensures the robustness of the AM in the presence of external wind disturbances.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>A fully actuated AM system with a robust motion\/force hybrid controller is proposed. The effectiveness of the proposed AM system for conducting contact-typed industrial inspection tasks is validated by practical experiments.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-07-2022-0184","type":"journal-article","created":{"date-parts":[[2022,12,5]],"date-time":"2022-12-05T05:47:55Z","timestamp":1670219275000},"page":"421-431","source":"Crossref","is-referenced-by-count":6,"title":["A fully actuated aerial manipulator system for industrial contact inspection applications"],"prefix":"10.1108","volume":"50","author":[{"given":"Shuang","family":"Hao","sequence":"first","affiliation":[{"name":"Southeast University State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, , Nanjing,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangming","family":"Song","sequence":"additional","affiliation":[{"name":"Southeast University State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, , Nanjing,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juzheng","family":"Mao","sequence":"additional","affiliation":[{"name":"Southeast University State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, , Nanjing,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yue","family":"Gu","sequence":"additional","affiliation":[{"name":"Southeast University State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, , Nanjing,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aiguo","family":"Song","sequence":"additional","affiliation":[{"name":"Southeast University State Key Laboratory of Bioelectronics, School of Instrument Science and Engineering, , Nanjing,","place":["China"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2022,12,7]]},"reference":[{"issue":"3","key":"2025072821021976600_ref001","doi-asserted-by":"crossref","first-page":"709","DOI":"10.1109\/TRO.2020.3036623","article-title":"Active interaction force control for contact-based inspection with a fully actuated aerial vehicle","volume":"37","author":"Bodie","year":"2021","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"2025072821021976600_ref002","doi-asserted-by":"crossref","first-page":"932","DOI":"10.1109\/41.857974","article-title":"A nonlinear disturbance observer for robotic manipulators","volume":"47","author":"Chen","year":"2000","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"2","key":"2025072821021976600_ref003","doi-asserted-by":"crossref","first-page":"1083","DOI":"10.1109\/TIE.2015.2478397","article-title":"Disturbance-observer-based control and related methods \u2013 an overview","volume":"63","author":"Chen","year":"2016","journal-title":"IEEE Transactions on Industrial Electronics"},{"issue":"4","key":"2025072821021976600_ref004","doi-asserted-by":"crossref","first-page":"7501","DOI":"10.1109\/LRA.2021.3093864","article-title":"Improving the reliability of pick-and-place with aerial vehicles through fault-tolerant software and a custom magnetic end-effector","volume":"6","author":"Garimella","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"2025072821021976600_ref005","first-page":"4692","article-title":"Towards model-predictive control for aerial pick-and-place","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","author":"Garimella","year":"2015"},{"key":"2025072821021976600_ref006","first-page":"4645","article-title":"Autonomous indoor aerial gripping using a quadrotor","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Ghadiok","year":"2011"},{"key":"2025072821021976600_ref007","unstructured":"Hamandi, M., Usai, F., Sabl\u00e9, Q., Staub, N., Tognon, M. and Franchi, A. 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