Abstract

This review explores the emerging domain of multi-manual geometric control for flying end-effectors within the port-Hamiltonian (pH) framework. Flying end-effectors—specialized aerial robots designed to physically interact with their environment—present significant challenges due to their under-actuation, nonlinear dynamics, and the demand for safe and stable physical interaction. The port-Hamiltonian formalism, built on energy-based modeling and differential geometry, offers a powerful and structured approach to representing such systems on the SE(3) Lie group, while ensuring passivity of the system.

We begin by examining foundational developments in pH-based modelling for aerial robots, including geometric formulations for fully actuated UAVs on SE(3) and the design of impedance controllers derived through energy-balancing methods for both free-flight and contact conditions.

We then review the current state of multi-manual (multi-DOF) manipulation and discuss how these concepts extend to the unique challenges posed by multi-manual aerial manipulation on SE(3). Particular attention is given to geometric impedance control within the pH framework, where stiffness and damping behaviors are shaped to emulate ideal spatial springs and dampers, enabling robust interaction control.

Overall, this review synthesizes insights from geometric mechanics, port-Hamiltonian theory, and aerial manipulation, highlighting how energy-based control strategies form a strong foundation for achieving safe, stable, and versatile flying end-effectors.

About the Speaker

Mr. Muhammed Nabeel Abdurrauf is a Master's Student in the Control and Instrumentation Engineering Department at KFUPM that focuses on the geometric control of robots. He focuses on the multi-aerial interaction of such aerial robots using the robotics paradigm and his interests are mainly on floating base manipulators and their modelling requirements for consistent geometric control.