Fig. 1: Traversal of complaint obstacles with a drone. | Nature Communications

Fig. 1: Traversal of complaint obstacles with a drone.

From: Synergistic morphology and feedback control for traversal of unknown compliant obstacles with aerial robots

Fig. 1

An underactuated aerial robot equipped with a discoid shell traversing a compliant, hinged plate whose dynamic parameters are unknown. The robot is required to follow a desired path during the interaction, which translates into the need to actively push and slide to overcome the obstacle. Experimental validation conducted with (A) a hinged plate and (B) a real branch.

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