# Energy Tank-Based Wrench/Impedance Control of a Fully-Actuated Hexarotor: A Geometric Port-Hamiltonian Approach

> Research article (2019 International Conference on Robotics and Automation (ICRA), 2019) · cited 50× · AI/ML

**Wikidata**: [openalex:W2966945592](https://www.wikidata.org/wiki/openalex:W2966945592)  
**Source**: https://4ort.xyz/entity/energy-tank-based-wrench-impedance-control-of-a-fully-actuated-hexarotor-a-geometric-port-hamiltonian-approach