{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T01:33:53Z","timestamp":1778636033489,"version":"3.51.4"},"reference-count":39,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2019,3,17]],"date-time":"2019-03-17T00:00:00Z","timestamp":1552780800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"AEROARMS","award":["European Union\u2019s Horizon 2020: No 644271"],"award-info":[{"award-number":["European Union\u2019s Horizon 2020: No 644271"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2019,4]]},"abstract":"<jats:p>This paper proposes the use of a novel control method based on interconnection and damping assignment\u2013passivity-based control (IDA-PBC) in order to address the aerial physical interaction (APhI) problem for a quadrotor unmanned aerial vehicle (UAV). The apparent physical properties of the quadrotor are reshaped in order to achieve better APhI performances, while ensuring the stability of the interaction through passivity preservation. The robustness of the IDA-PBC method with respect to sensor noise is also analyzed. The direct measurement of the external wrench, needed to implement the control method, is compared with the use of a nonlinear Lyapunov-based wrench observer and advantages\/disadvantages of both methods are discussed. The validity and practicability of the proposed APhI method is evaluated through experiments, where for the first time in the literature, a lightweight all-in-one low-cost force\/torque (F\/T) sensor is used onboard of a quadrotor. Two main scenarios are shown: a quadrotor responding to external disturbances while hovering (physical human\u2013quadrotor interaction), and the same quadrotor sliding with a rigid tool along an uneven ceiling surface (inspection\/painting-like task).<\/jats:p>","DOI":"10.1177\/0278364919835605","type":"journal-article","created":{"date-parts":[[2019,3,18]],"date-time":"2019-03-18T02:19:24Z","timestamp":1552875564000},"page":"403-421","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["Aerial physical interaction via IDA-PBC"],"prefix":"10.1177","volume":"38","author":[{"given":"Burak","family":"Y\u00fcksel","sequence":"first","affiliation":[{"name":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cristian","family":"Secchi","sequence":"additional","affiliation":[{"name":"Universiy of Modena and Reggio Emilia, Reggio Emilia, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Heinrich H.","family":"B\u00fclthoff","sequence":"additional","affiliation":[{"name":"Max Planck Institute for Biological Cybernetics, T\u00fcbingen, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5670-1282","authenticated-orcid":false,"given":"Antonio","family":"Franchi","sequence":"additional","affiliation":[{"name":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,3,17]]},"reference":[{"key":"bibr1-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2014.7039459"},{"key":"bibr2-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1016\/j.sysconle.2008.09.006"},{"key":"bibr3-0278364919835605","doi-asserted-by":"publisher","DOI":"10.23919\/ECC.2013.6669643"},{"key":"bibr4-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224682"},{"key":"bibr5-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1142\/S2301385014300017"},{"key":"bibr6-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/41.857974"},{"key":"bibr7-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0177-2"},{"key":"bibr8-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989610"},{"key":"bibr9-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205625"},{"key":"bibr10-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-012-9291-2"},{"key":"bibr11-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385917"},{"key":"bibr12-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907785"},{"key":"bibr13-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2013.6698814"},{"key":"bibr14-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7403277"},{"key":"bibr15-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2015.08.015"},{"key":"bibr16-0278364919835605","volume-title":"Nonlinear Systems","author":"Khalil HK","year":"2001","edition":"3"},{"key":"bibr17-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2263963"},{"key":"bibr18-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_52"},{"key":"bibr19-0278364919835605","author":"McKinnon CD","year":"2016","journal-title":"arXiv Preprint"},{"key":"bibr20-0278364919835605","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980053"},{"key":"bibr21-0278364919835605","unstructured":"Naldi R (2008) Prototyping, modeling and control of a class of vtol aerial robots. 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