{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,15]],"date-time":"2026-04-15T20:47:18Z","timestamp":1776286038405,"version":"3.50.1"},"reference-count":34,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2024,9,29]],"date-time":"2024-09-29T00:00:00Z","timestamp":1727568000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"AERIAL-CORE project","award":["871479"],"award-info":[{"award-number":["871479"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Delivering large horizontal controlled forces for long periods with aerial manipulators is not an easy task to accomplish; several factors including disturbances, reaction forces from the on-board arm or actuator\u2019s limitations might diminish their horizontal force delivery capabilities. Aiming to mitigate these drawbacks, this paper presents a comprehensive study of the force delivery capabilities of aerial manipulators leveraging the environment. The methodology to evaluate the aforementioned capabilities is the Generalized-Jacobian-based force ellipsoid, which was applied to different types of both free-flying and attached-to-the-environment aerial manipulators. In addition, large controlled force delivery experiments with the mentioned manipulators were conducted on physics-engine-based robotics simulation software. The obtained results categorically demonstrate that aerial manipulators leveraging the environment are capable of delivering larger forces than their free-flying counterparts, which has not been proved in the literature so far in the field of aerial robotics.<\/jats:p>","DOI":"10.3390\/robotics13100147","type":"journal-article","created":{"date-parts":[[2024,9,30]],"date-time":"2024-09-30T03:12:28Z","timestamp":1727665948000},"page":"147","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Increasing Horizontal Controlled Force Delivery Capabilities of Aerial Manipulators by Leveraging the Environment"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6191-4306","authenticated-orcid":false,"given":"Santos Miguel","family":"Orozco Soto","sequence":"first","affiliation":[{"name":"Science and Technology College, Autonomous University of Mexico City, Mexico City 06720, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6089-2333","authenticated-orcid":false,"given":"Vincenzo","family":"Lippiello","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Information Technology, University of Naples Federico II, 80125 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,9,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Cacace, J., Orozco-Soto, S.M., Suarez, A., Caballero, A., Orsag, M., Bogdan, S., Vasiljevic, G., Ebeid, E., Rodriguez, J.A.A., and Ollero, A. 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