Fig. 6: Continuous multi-task interactions with human.
From: Hand-like autonomous flying robot for airborne grasping and interaction
a HI-ARM successfully executes continuous multiple aerial interactive tasks including: (i) grasping and transporting an express box (75g) and a water bottle (134g), (ii) delivering a snack (60g) and grasping an empty bottle (23g), and (iii) transporting the bottle to a trash can and perching on a coat rack. b Reference trajectories for continuous tasks. c The absolute tracking error of each axis in continuous tasks. d External force estimation and servo motor angle for different objects.
