Interaction of a flying robot with a human agent for transportation task

This thesis focuses on physical human-robot interaction, emphasizing coordinated movements to achieve assigned tasks, particularly in a scenario where a quadcopter is connected to a human-controlled payload. The primary goal is to perform precise tracking control of the robot's 3D position while maintaining tether tension. The thesis outlines system characteristics and a control framework, also applied in human motor learning experiments using assistive and resistive force strategies. The robot is expected to follow the human agent in synchrony. Force strategies enhance motor learning, with the resistive strategy having a more significant impact.