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arXiv · 2503.04304

Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs

Chiara Gabellieri·Lars Teeuwen·Yaolei Shen·Antonio Franchi
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Abstract

This work considers a large class of systems composed of multiple quadrotors manipulating deformable and extensible cables. The cable is described via a discretized representation, which decomposes it into linear springs interconnected through lumped-mass passive spherical joints. Sets of flat outputs are found for the systems. Numerical simulations support the findings by showing cable manipulation relying on flatness-based trajectories. Eventually, we present an experimental validation of the effectiveness of the proposed discretized cable model for a two-robot example. Moreover, a closed-loop controller based on the identified model and using cable-output feedback is experimentally tested.

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Chiara Gabellieri, Lars Teeuwen, Yaolei Shen, Antonio Franchi. 2025-03-06. Manipulation of Elasto-Flexible Cables with Single or Multiple UAVs. https://doi.org/10.1109/iros60139.2025.11246978

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