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Journal articles on the topic 'Winged aerial manipulation robot'

Author: Grafiati

Published: 4 June 2025

Last updated: 1 August 2025

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1

Suarez, Alejandro, Pedro Grau, Guillermo Heredia, and Anibal Ollero. "Winged Aerial Manipulation Robot with Dual Arm and Tail." Applied Sciences 10, no. 14 (2020): 4783. http://dx.doi.org/10.3390/app10144783.

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This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulati

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2

Feliu-Talegon, Daniel, José Ángel Acosta, Alejandro Suarez, and Anibal Ollero. "A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control." Applied Sciences 10, no. 18 (2020): 6516. http://dx.doi.org/10.3390/app10186516.

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Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccess

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3

Yanoviak, Stephen P., Michael Kaspari, and Robert Dudley. "Gliding hexapods and the origins of insect aerial behaviour." Biology Letters 5, no. 4 (2009): 510–12. http://dx.doi.org/10.1098/rsbl.2009.0029.

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Directed aerial descent (i.e. gliding and manoeuvring) may be an important stage in the evolution of winged flight. Although hypothesized to occur in ancestrally wingless insects, such behaviour is unexplored in extant basal hexapods, but has recently been described in arboreal ants. Here we show that tropical arboreal bristletails (Archaeognatha) direct their horizontal trajectories to tree trunks in approximately 90 per cent of falls. Experimental manipulation of the median caudal filament significantly reduced both success rate (per cent of individuals landing on a tree trunk) and performan

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Zhang, Guangyu, Yuqing He, Bo Dai, et al. "Aerial Grasping of an Object in the Strong Wind: Robust Control of an Aerial Manipulator." Applied Sciences 9, no. 11 (2019): 2230. http://dx.doi.org/10.3390/app9112230.

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An aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control performance of the aerial manipulator. A separate control strategy is used in the aerial manipulator system, in which the UAV and the manipulator are controlled separately. In order to complete tasks in environments with strong wind disturbance, an acc

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Ladig, Robert, Hannibal Paul, Ryo Miyazaki, and Kazuhiro Shimonomura. "Aerial Manipulation Using Multirotor UAV: A Review from the Aspect of Operating Space and Force." Journal of Robotics and Mechatronics 33, no. 2 (2021): 196–204. http://dx.doi.org/10.20965/jrm.2021.p0196.

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Aerial manipulation: physical interaction with the environment by using a robotic manipulator attached to the airframe of an aerial robot. In the future one can expect that aerial manipulation will greatly extend the range of possible applications for mobile robotics, especially multirotor UAVs. This can range from inspection and maintenance of previously hard to reach pieces of infrastructure, to search and rescue applications. What kind of manipulator is attached to what position of the airframe is a key point in accomplishing the aerial robot’s function and in the past, various aerial manip

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Wei-hong, Xu, Cao Li-jia, and Zhong Chun-lai. "Review of Aerial Manipulator and its Control." International Journal of Robotics and Control Systems 1, no. 3 (2021): 308–25. http://dx.doi.org/10.31763/ijrcs.v1i3.363.

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The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, an

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Zhao, Moju, and Takuzumi Nishio. "Generalized Design, Modeling and Control Methodology for a Snake-like Aerial Robot." Sensors 23, no. 4 (2023): 1882. http://dx.doi.org/10.3390/s23041882.

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Snake-like robots have been developing in recent decades, and various bio-inspired ideas are deployed in both the mechanical and locomotion aspects. In recent years, several studies have proposed state-of-the-art snake-like aerial robots, which are beyond bio-inspiration. The achievement of snake-like aerial robots benefits both aerial maneuvering and manipulation, thereby having importance in various fields, such as industry surveillance and disaster rescue. In this work, we introduce our development of the modular aerial robot which can be considered a snake-like robot with high maneuverabil

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Suarez, Alejandro, Pedro J. Sanchez-Cuevas, Guillermo Heredia, and Anibal Ollero. "Aerial Physical Interaction in Grabbing Conditions with Lightweight and Compliant Dual Arms." Applied Sciences 10, no. 24 (2020): 8927. http://dx.doi.org/10.3390/app10248927.

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This paper considers the problem of performing bimanual aerial manipulation tasks in grabbing conditions, with one of the arms grabbed to a fixed point (grabbing arm) while the other conducts the task (operation arm). The goal was to evaluate the positioning accuracy of the aerial platform and the end effector when the grabbing arm is used as position sensor, as well as to analyze the behavior of the robot during the aerial physical interaction on flight. The paper proposed a control scheme that exploits the information provided by the joint sensors of the grabbing arm for estimating the relat

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Zhao, Moju, Koji Kawasaki, Tomoki Anzai, et al. "Transformable multirotor with two-dimensional multilinks: Modeling, control, and whole-body aerial manipulation." International Journal of Robotics Research 37, no. 9 (2018): 1085–112. http://dx.doi.org/10.1177/0278364918801639.

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A multirotor with two-dimensional multilinks is proposed to perform aerial transformation and aerial manipulation. First, a modular link structure that comprises a multirotor with a reliable internal communication system was initially developed. Second, a flight control method was further introduced on the basis of linear–quadratic–integral optimal control for aerial transformation. A relaxed hovering solution that neglects the yaw motion stability is proposed to enable stable flight under a certain singular form. Third, the transformable robot was employed as an entire gripper with regards to

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Paul, Hannibal, Ricardo Rosales Martinez, Robert Ladig, and Kazuhiro Shimonomura. "Lightweight Multipurpose Three-Arm Aerial Manipulator Systems for UAV Adaptive Leveling after Landing and Overhead Docking." Drones 6, no. 12 (2022): 380. http://dx.doi.org/10.3390/drones6120380.

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In aerial manipulation, the position and size of a manipulator attached to an aerial robot defines its workspace relative to the robot. However, the working region of a multipurpose robot is determined by its task and is not always predictable prior to deployment. In this paper, the development of a multipurpose manipulator design for a three-armed UAV with a large workspace around its airframe is proposed. The manipulator is designed to be lightweight and slim in order to not disrupt the UAV during in-flight manipulator movements. In the experiments, we demonstrate various advanced and critic

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Qahmash, Ayman, Izzat Al-Darraji, Adil O. Khadidos, Georgios Tsaramirsis, Alaa O. Khadidos, and Mohammed Alghamdi. "On-Board Digital Twin Based on Impedance and Model Predictive Control for Aerial Robot Grasping." Journal of Sensors 2023 (May 23, 2023): 1–10. http://dx.doi.org/10.1155/2023/9662100.

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Aerial manipulation of objects has a number of advantages as it is not limited by the morphology of the terrain. One of the main problems of the aerial payload process is the lack of real-time prediction of the interaction between the gripper of the aerial robot and the payload. This paper introduces a digital twin (DT) approach based on impedance control of the aerial payload transmission process. The impedance control technique is implemented to develop the target impedance based on emerging the mass of the payload and the model of the gripper fingers. Tracking the position of the interactio

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12

Uthayasooriyan, Anuraj, Fernando Vanegas, Amir Jalali, Krishna Manaswi Digumarti, Farrokh Janabi-Sharifi, and Felipe Gonzalez. "Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods." Drones 8, no. 6 (2024): 269. http://dx.doi.org/10.3390/drones8060269.

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone te

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13

Rodriguez-Castaño, Angel, Saeed Rafee Nekoo, Honorio Romero, Rafael Salmoral, José Ángel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 16 (2021): 7427. http://dx.doi.org/10.3390/app11167427.

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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however

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14

Rodriguez-Castaño, Angel, Nekoo Saeed Rafee, Honorio Romero, Rafael Salmoral, Jose Angel Acosta, and Anibal Ollero. "Installation of Clip-Type Bird Flight Diverters on High-Voltage Power Lines with Aerial Manipulation Robot: Prototype and Testbed Experimentation." Applied Sciences 11, no. 7427 (2021): 1–16. https://doi.org/10.3390/app11167427.

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This work presents the application of an aerial manipulation robot for the semi-autonomous installation of clip-type bird flight diverters on overhead power line cables. A custom-made prototype is designed, developed, and experimentally validated. The proposed solution aims to reduce the cost and risk of current procedures carried out by human operators deployed on suspended carts, lifts, or manned helicopters. The system consists of an unmanned aerial vehicle (UAV) equipped with a custom-made tool. This tool allows the high force required for the diverter installation to be generated; however

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15

Ercolani, Chiara, Wanting Jin, and Alcherio Martinoli. "3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation." Sensors 23, no. 20 (2023): 8512. http://dx.doi.org/10.3390/s23208512.

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Within the scope of the ongoing efforts to fight climate change, the application of multi-robot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of such systems to gas sensing missions has yet to be extensively explored and presents some unique challenges, mainly due to the hard-to-sense and expensive-to-model nature of gas dispersion. For this paper, we explored the application of a multi-robot system composed of rotary-winged nano aerial vehicles to a gas sensing mission. We qualitatively and

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16

SUGITO, Nobuki, Moju ZHAO, Tomoki ANZAI, Takuzumi NISHIO, Kei OKADA, and Masayuki INABA. "Aerial Manipulation while in Contact with the Environment by Multilinked Aerial Robot with Thrust Vectoring Module." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 1P3—B18. http://dx.doi.org/10.1299/jsmermd.2021.1p3-b18.

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Suarez, Alejandro, Manuel Perez, Guillermo Heredia, and Anibal Ollero. "Cartesian Aerial Manipulator with Compliant Arm." Applied Sciences 11, no. 3 (2021): 1001. http://dx.doi.org/10.3390/app11031001.

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This paper presents an aerial manipulation robot consisting of a hexa-rotor equipped with a 2-DOF (degree of freedom) Cartesian base (XY–axes) that supports a 1-DOF compliant joint arm that integrates a gripper and an elastic linear force sensor. The proposed kinematic configuration improves the positioning accuracy of the end effector with respect to robotic arms with revolute joints, where each coordinate of the Cartesian position depends on all the joint angles. The Cartesian base reduces the inertia of the manipulator and the energy consumption since it does not need to lift its own weight

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18

Liu, Jian, Dan Zhang, Chenwei Wu, Hongyan Tang, and Chunxu Tian. "A multi-finger robot system for adaptive landing gear and aerial manipulation." Robotics and Autonomous Systems 146 (December 2021): 103878. http://dx.doi.org/10.1016/j.robot.2021.103878.

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19

KANEKO, Kotaro, Moju ZHAO, Junichiro SUGIHARA, et al. "Development of a manipulation-based teleoperation system for an articulated aerial robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2024 (2024): 1P1—C07. https://doi.org/10.1299/jsmermd.2024.1p1-c07.

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20

Samadikhoshkho, Zahra, Shahab Ghorbani, and Farrokh Janabi-Sharifi. "Coupled Dynamic Modeling and Control of Aerial Continuum Manipulation Systems." Applied Sciences 11, no. 19 (2021): 9108. http://dx.doi.org/10.3390/app11199108.

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Aerial continuum manipulation systems (ACMSs) were newly introduced by integrating a continuum robot (CR) into an aerial vehicle to address a few issues of conventional aerial manipulation systems such as safety, dexterity, flexibility and compatibility with objects. Despite the earlier work on decoupled dynamic modeling of ACMSs, their coupled dynamic modeling still remains intact. Nonlinearity and complexity of CR modeling make it difficult to design a coupled ACMS model suitable for practical applications. This paper presents a coupled dynamic modeling for ACMSs based on the Euler–Lagrange

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21

Chen, Yufeng, Cathleen Arase, Zhijian Ren, and Pakpong Chirarattananon. "Design, Characterization, and Liftoff of an Insect-Scale Soft Robotic Dragonfly Powered by Dielectric Elastomer Actuators." Micromachines 13, no. 7 (2022): 1136. http://dx.doi.org/10.3390/mi13071136.

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Dragonflies are agile and efficient flyers that use two pairs of wings for demonstrating exquisite aerial maneuvers. Compared to two-winged insects such as bees or flies, dragonflies leverage forewing and hindwing interactions for achieving higher efficiency and net lift. Here we develop the first at-scale dragonfly-like robot and investigate the influence of flapping-wing kinematics on net lift force production. Our 317 mg robot is driven by two independent dielectric elastomer actuators that flap four wings at 350 Hz. We extract the robot flapping-wing kinematics using a high-speed camera, a

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22

Samadikhoshkho, Zahra, Shahab Ghorbani, and Farrokh Janabi-Sharifi. "Modeling and Control of Aerial Continuum Manipulation Systems: A Flying Continuum Robot Paradigm." IEEE Access 8 (2020): 176883–94. http://dx.doi.org/10.1109/access.2020.3026279.

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23

Suarez, Alejandro, Rafael Salmoral, Pedro J. Zarco-Periñan, and Anibal Ollero. "Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations." IEEE Access 9 (July 1, 2021): 94573–85. https://doi.org/10.1109/ACCESS.2021.3093856.

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The use of aerial manipulators for the inspection and maintenance of the power grid requires the safe interaction of the robot with high voltage power lines. In order to identify possible faults or malfunctions during the approaching or interaction phases, this paper presents experimental results in a real 15 kV power line, considering four different configurations for the manipulator: 1) aluminum tube attached to the landing gear, 2) robotic arm attached to the multi-rotor base, 3) shielded aerial manipulator, and 4) long reach configuration (insulated). The paper investigates the electromagn

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Chen, Genda, Liujun Li, Zhenhua Shi, and Bo Shang. "Aerial Nondestructive Testing and Evaluation (aNDT&E)." Materials Evaluation 81, no. 1 (2023): 67–73. http://dx.doi.org/10.32548/2023.me-04300.

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Drones are increasingly used during routine inspections of bridges to improve data consistency, work efficiency, inspector safety, and cost effectiveness. Most drones, however, are operated manually within a visual line of sight and thus unable to inspect long-span bridges that are not completely visible to operators. In this paper, aerial nondestructive evaluation (aNDE) will be envisioned for elevated structures such as bridges, buildings, dams, nuclear power plants, and tunnels. To enable aerial nondestructive testing (aNDT), a human-robot system will be created to integrate haptic sensing

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Suarez, Alejandro, Alvaro Caballero, Ambar Garofano-Soldado, Pedro J. Sanchez-Cuevas, Guillermo Heredia, and Anibal Ollero. "Aerial Manipulator With Rolling Base for Inspection of Pipe Arrays." IEEE Access 8 (September 2, 2020): 162516–32. https://doi.org/10.1109/ACCESS.2020.3021126.

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This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of flying robots to industrial inspection and maintenance tasks. The robot consists of a hexa-rotor platform integrating a rolling base with velocity and di

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Al-Darraji, Izzat, Dimitrios Piromalis, Ayad Kakei, et al. "Adaptive Robust Controller Design-Based RBF Neural Network for Aerial Robot Arm Model." Electronics 10, no. 7 (2021): 831. http://dx.doi.org/10.3390/electronics10070831.

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Aerial Robot Arms (ARAs) enable aerial drones to interact and influence objects in various environments. Traditional ARA controllers need the availability of a high-precision model to avoid high control chattering. Furthermore, in practical applications of aerial object manipulation, the payloads that ARAs can handle vary, depending on the nature of the task. The high uncertainties due to modeling errors and an unknown payload are inversely proportional to the stability of ARAs. To address the issue of stability, a new adaptive robust controller, based on the Radial Basis Function (RBF) neural

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Zhao, Moju, Keisuke Nagato, Kei Okada, Masayuki Inaba, and Masayuki Nakao. "Forceful Valve Manipulation With Arbitrary Direction by Articulated Aerial Robot Equipped With Thrust Vectoring Apparatus." IEEE Robotics and Automation Letters 7, no. 2 (2022): 4893–900. http://dx.doi.org/10.1109/lra.2022.3154018.

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TAKAHASHI, Kohei, Shinya KOTOSAKA, and Ryuichi HODOSHIMA. "Development of aerial robot surrounded by active rotatable cages for collision protection and omnidirectional manipulation." Proceedings of Conference of Kanto Branch 2018.24 (2018): OS0415. http://dx.doi.org/10.1299/jsmekanto.2018.24.os0415.

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HODOSHIMA, Ryuichi, Kohei TAKAHASHI, Izumi SEITO, Masuhiro YOSHIDA, and Shinya KOTOSAKA. "Development of Aerial Robot Surrounded by Active Rotatable Cages for Collision Protection and Omnidirectional Manipulation." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018 (2018): 1P1—C09. http://dx.doi.org/10.1299/jsmermd.2018.1p1-c09.

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Sato, Ryuki, Etienne Marco Badard, Chaves Silva Romulo, Tadashi Wada, and Aiguo Ming. "Development of an Aerial Manipulation System Using Onboard Cameras and a Multi-Fingered Robotic Hand with Proximity Sensors." Sensors 25, no. 2 (2025): 470. https://doi.org/10.3390/s25020470.

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Recently, aerial manipulations are becoming more and more important for the practical applications of unmanned aerial vehicles (UAV) to choose, transport, and place objects in global space. In this paper, an aerial manipulation system consisting of a UAV, two onboard cameras, and a multi-fingered robotic hand with proximity sensors is developed. To achieve self-contained autonomous navigation to a targeted object, onboard tracking and depth cameras are used to detect the targeted object and to control the UAV to reach the target object, even in a Global Positioning System-denied environment. T

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HAMADA, Takahiro, Ryuma IIZUKA, Dameitry Ashlih, Masahiro WATANABE, and Hideyuki TUKAGOSHI. "1P1-I01 Aerial work robot with manipulation function : 3rd Report: Implementation of door opening(Search and Rescue Robot and Mechatronics (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1P1—I01_1—_1P1—I01_4. http://dx.doi.org/10.1299/jsmermd.2014._1p1-i01_1.

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MASUDA, Arata, Yoshiyuki HIGASHI, and Takashi TANAKA. "1A1-T05 A Vibration Probe Foot for Aerial Inspection Robots for Steel Structures(Mobile Manipulation Robot)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1A1—T05_1—_1A1—T05_2. http://dx.doi.org/10.1299/jsmermd.2014._1a1-t05_1.

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IIZUKA, Ryuma, Ashlih DAMEITRY, Takeshi MAEZUMI, and Hideyuki TSUKAGOSHI. "1A1-V07 Aerial robot with manipulation function : 6th Report: Automatic attaching function for wall and ceiling." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1A1—V07_1—_1A1—V07_4. http://dx.doi.org/10.1299/jsmermd.2015._1a1-v07_1.

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Zhao, Moju, Fan Shi, Tomoki Anzai, Kei Okada, and Masayuki Inaba. "Online Motion Planning for Deforming Maneuvering and Manipulation by Multilinked Aerial Robot Based on Differential Kinematics." IEEE Robotics and Automation Letters 5, no. 2 (2020): 1602–9. http://dx.doi.org/10.1109/lra.2020.2967285.

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HAMADA, Takahiro, Youhei IKARI, Dameitry Ashlih, Hideyuki TSUKAGOSHI, and Ato KITAGAWA. "1P1-P06 Aerial Operating robot with the manipulation function : 1st Report: Proposal of Adhesive fixing method(Search and Rescue Robot and Mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1P1—P06_1—_1P1—P06_4. http://dx.doi.org/10.1299/jsmermd.2013._1p1-p06_1.

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WATANABE, Masahiro, Ryuma IIZUKA, and Hideyuki TUKAGOSHI. "2A1-B03 Flight work robot with the manipulation function : 4^ Report: Method to attach on the wall(Aerial Robot and Mechatronics (1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A1—B03_1—_2A1—B03_4. http://dx.doi.org/10.1299/jsmermd.2014._2a1-b03_1.

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Li, Tandong, Shaobo Li, Hang Sun, and Dongchao Lv. "The Fixed-Time Observer-Based Adaptive Tracking Control for Aerial Flexible-Joint Robot with Input Saturation and Output Constraint." Drones 7, no. 6 (2023): 348. http://dx.doi.org/10.3390/drones7060348.

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The aerial flexible-joint robot (AFJR) manipulation system has been widely used in recent years. To handle uncertainty, the input saturation and the output constraint existing in the system, a fixed-time observer-based adaptive control scheme, is proposed (FTOAC). First, to estimate the input saturation and disturbances from the internal force between the robot and the flight platform, a fixed-time observer is designed. Second, a tangent-barrier Lyapunov function is introduced to implement the output constraint. Third, adaptive neural networks are introduced for the online identification of no

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Anzai, Tomoki, Kei Okada, and Masayuki Inaba. "Achievement of Aerial Object Transportation and Manipulation by a Flying Humanoid Robot with Bi-rotor Flight Unit." Journal of the Robotics Society of Japan 42, no. 10 (2024): 997–1005. https://doi.org/10.7210/jrsj.42.997.

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Beul, Marius, Max Schwarz, Jan Quenzel, et al. "Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020." Field Robotics 2, no. 1 (2022): 807–42. http://dx.doi.org/10.55417/fr.2022027.

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The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 posed diverse challenges for unmanned aerial vehicles (UAVs). We present our four tailored UAVs, specifically developed for individual aerial-robot tasks of MBZIRC, including custom hardwareand software components. In Challenge 1, a target UAV is pursued using a high-efficiency, onboard object detection pipeline to capture a ball from the target UAV. A second UAV uses a similar detection method to find and pop balloons scattered throughout the arena. For Challenge 2, we demonstrate a larger UAV capable of autonomous aerial ma

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Zhao, Moju, Tomoki Anzai, Fan Shi, et al. "Versatile multilinked aerial robot with tilted propellers: Design, modeling, control, and state estimation for autonomous flight and manipulation." Journal of Field Robotics 38, no. 7 (2021): 933–66. http://dx.doi.org/10.1002/rob.22019.

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Suarez, Alejandro, Rafael Salmoral, Pedro J. Zarco-Perinan, and Anibal Ollero. "Experimental Evaluation of Aerial Manipulation Robot in Contact With 15 kV Power Line: Shielded and Long Reach Configurations." IEEE Access 9 (2021): 94573–85. http://dx.doi.org/10.1109/access.2021.3093856.

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Ding, Li, Guibing Zhu, Yangmin Li, and Yaoyao Wang. "Cable-Driven Unmanned Aerial Manipulator Systems for Water Sampling: Design, Modeling, and Control." Drones 7, no. 7 (2023): 450. http://dx.doi.org/10.3390/drones7070450.

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The unmanned aerial manipulator (UAM) is a kind of aerial robot that combines a quadrotor aircraft and an onboard manipulator. This paper focuses on the problems of structure design, system modeling, and motion control of an UAM applied for water sampling. A novel, light, cable-driven UAM has been designed. The drive motors installed in the base transmit the force and motion remotely through cables, which can reduce the inertia ratio of the manipulator. The Newton–Euler method and Lagrangian method are adopted to establish the quadrotor model and manipulator model, respectively. External distu

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Pasetto, Alberto, Yash Vyas, and Silvio Cocuzza. "Zero Reaction Torque Trajectory Tracking of an Aerial Manipulator through Extended Generalized Jacobian." Applied Sciences 12, no. 23 (2022): 12254. http://dx.doi.org/10.3390/app122312254.

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Aerial manipulators are used in industrial and service robotics tasks such as assembly, inspection, and maintenance. One of the main challenges in aerial manipulation is related to the motion of the UAV base caused by manipulator disturbance torques and forces, which jeopardize the precision of the robot manipulator. In this paper, we propose two novel inverse kinematic control methods used to track a trajectory with an aerial manipulator while also considering resultant UAV base motions. The first method is adapted from the generalized Jacobian formulation used in space robotics and includes

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Zhu, Minglei, Dawei Gong, Yuyang Zhao, Jiaoyuan Chen, Jun Qi, and Shijie Song. "Compliant Force Control for Robots: A Survey." Mathematics 13, no. 13 (2025): 2204. https://doi.org/10.3390/math13132204.

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Compliant force control is a fundamental capability for enabling robots to interact safely and effectively with dynamic and uncertain environments. This paper presents a comprehensive survey of compliant force control strategies, intending to enhance safety, adaptability, and precision in applications such as physical human–robot interaction, robotic manipulation, and collaborative tasks. The review begins with a classification of compliant control methods into passive and active approaches, followed by a detailed examination of direct force control techniques—including hybrid and parallel for

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Suarez, Alejandro, Pedro Grau, Guillermo Heredia, and Anibal Ollero. "Winged Aerial Manipulation Robot with Dual Arm and Tail." Applied Sciences 10, no. 14 (2020). https://doi.org/10.3390/app10144783.

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This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulati

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Daniel, Feliu Talegón, Ángel Acosta José, Suarez Alejandro, and Ollero Anibal. "A bio-inspired manipulator with claw prototype for winged aerial robots: Benchmark for design and control." Applied Science 10, no. 18 (2021). https://doi.org/10.5281/zenodo.4924119.

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Nature exhibits many examples of birds, insects and flying mammals with flapping wings and with limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a subject to add them some manipulation-like capabilities, similar to ones that exhibit birds. The resultant flying robot (ornithopter) will improve the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities will allow them to perch in inaccessib

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Daniel, Feliu Talegón, Ángel Acosta José, and Ollero Anibal. "Control Aware of Limitations of Manipulators with Claw for Aerial Robots Imitating Bird's Skeleton." Robotics and Automation Letters, July 1, 2021. https://doi.org/10.1109/LRA.2021.3093282.

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Winged animals such as birds, flying mammals or insects have lightweight limbs which allow them to perform different tasks. Although in robotics there are some examples of winged robots (called ornithopters), it has not been yet studied how to add them some manipulation-like capabilities, similarly to the anatomy of animals limbs. Adding those capabilities to ornithopters will outperform multirotor platforms giving the possibility to perch in unaccessible places, grasp objects and perform some kind of manipulation while being in proximity to humans. The special manipulator imitates the anatomy

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Nekoo, Saeed Rafee, Daniel Feliu-Talegon, Jose Angel Acosta, and Anibal Ollero. "A 79.7g Manipulator Prototype for E-Flap Robot: A Plucking-Leaf Application." June 27, 2022. https://doi.org/10.1109/ACCESS.2022.3184110.

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The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This is a direct consequence of the load-carrying capacity limitation of the flapping-wing robots. Ornithopters will improve the existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer a safe interaction in proximity to humans. This technology also opens the possibility to perch in some trees and perform tasks such as obtaining samples from nature, enabling biologists to collect samples in remote places, or assisting people in rescue missions by carry

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Nekoo, Saeed Rafee, and Anibal Ollero. "Closed-loop nonlinear optimal control design for flapping-wing flying robot (1.6 m wingspan) in indoor confined space: Prototyping, modeling, simulation, and experiment." August 30, 2023. https://doi.org/10.1016/j.isatra.2023.08.001.

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The flapping-wing technology has emerged recently in the application of unmanned aerial robotics for autonomous flight, control, inspection, monitoring, and manipulation. Despite the advances in applications and outdoor manual flights (open-loop control), closed-loop control is yet to be investigated. This work presents a nonlinear optimal closed-loop control design via the state-dependent Riccati equation (SDRE) for a flapping-wing flying robot (FWFR). Considering that the dynamic modeling of the flapping-wing robot is complex, a proper model for the implementation of nonlinear control method

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Guo, Pin, Kun Xu, Huichao Deng, Haoyuan Liu, and Xilun Ding. "Modeling and control of a hexacopter with a passive manipulator for aerial manipulation." Complex & Intelligent Systems, August 20, 2021. http://dx.doi.org/10.1007/s40747-021-00488-6.

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AbstractIn this paper, a multi-propeller aerial robot with a passive manipulator for aerial manipulation is presented. In order to deal with the collision, external disturbance, changing inertia, and underactuated characteristic during the aerial manipulation, an adaptive trajectory linearization control (ATLC) scheme is presented to stabilize the multi-propeller aerial robot during the whole process. The ATLC controller is developed based on trajectory linearization control (TLC) method and model reference adaptive control (MRAC) method. The stability of the proposed system is analyzed by com

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