Hexa-rotor platform interaction control

The facilities of the LAAS-CNRS (Toulouse) have been used for the experiments of an admittance control on a fully acutued platform builed by the Antonio Franchi group. The admittance block has been putted berween the motion control and the trajectory generator, using a momentumn based estimator it changes the desired trajectory to become the vehcile complaiant respect the external enviromnent.