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Alter-EGO F. A Robotic Aerial Platform with Functionally Anthropomorphic Arms
designed for Physical Interaction

This section presents the Alter-EGO F. The aerial platform with an anthropomorphic torso designed for physical Interaction.

The aerial platform comprises a DJI Matrice 600 Pro hexacopter, 5 DoFs arms, a 2DoFs head, and finally, two Softhands.

The robot is employed for aerial teleoperations. In the following, we provide the CAD of the system, the ROS control packages, and a simulation environment in which it is possible to test developed controllers.



         Fanyi Kong

Simone Monteleone

Manuel G. Catalano

Giorgio Grioli

Antonio Bicchi

Vinicio Tincani

Giacomo Dinuzzi

Mattia Poggiani



Centro E. Piaggio

Università di Pisa

Dipartimento di Ingegneria dell'Informazione

Istituto Italiano di Tecnologia


License: license type

Mechanical Design
ROS software controller of the drone
Gazebo Aerial Platform Simulator
Assembly Instruction
Pilot Station Software
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