Fig. 4: Fundamental attributes verification of AET.
From: A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments
“CMD” means commands, “EST” means estimates, and “MEA” means measurements. θu and ϕu denote UAV's attitude. a The actuation mechanism of the continuum arm with essential measurable signals during individual bending motion. b, c, d Limitation evaluation of the bending range, the bending velocity, and the arm tip loading capacity. e Attitude control verification of AET. f Workspace and dexterity maps derivation of the continuum arm.
