Fig. 7: Continuum arm’s shape estimation evaluation and UAV trajectory tracking control evaluation.
From: A dexterous and compliant aerial continuum manipulator for cluttered and constrained environments
“CMD” means control commands and “GT” means ground truth. \([{p}_{x}^{u},{p}_{y}^{u},{p}_{z}^{u}]\) and [ϕu, θu, ψu] denote UAV's position and orientation. a Evaluation on the continuum arm’s shape control during aerial flights. b UAV's level circle-trajectory tracking. c UAV's level rectangle-trajectory tracking. d UAV's vertical heart-trajectory tracking. e UAV's vertical eight-trajectory tracking.
