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A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation — arXiv:2609.19328

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.19328
License (as archived): CC0-1.0
Archived: 2026-10-10T05:25:19.871Z
SHA-256 of the archived text: 6936a85857b717c6f4c54813810c38fd478d4419cd04b48dadc49e103dffe9bf
Stable URL of this page: https://metraipolis.com/documento/dc_7b15366d652d

How to cite

A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation — arXiv:2609.19328 — arXiv (en), https://arxiv.org/abs/2609.19328 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_7b15366d652d (Metraipolis archive dc_7b15366d652d, sha256 6936a85857b717c6f4c54813810c38fd478d4419cd04b48dadc49e103dffe9bf)

BibTeX

@misc{dc7b15366d652d,
  title = {A Morphing Aerial Robot With Thruster-Integrated Flexible Continuum Links for Shape Adaptive Aerial Manipulation — arXiv:2609.19328},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.19328},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_7b15366d652d; sha256 6936a85857b717c6f4c54813810c38fd478d4419cd04b48dadc49e103dffe9bf},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.19328. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

In recent years, aerial manipulation has attracted increasing attention as a key to expand the application of aerial robots. In this work, we focus on two major research directions for achieving versatile aerial manipulation: (i) acquiring high environmental adaptability using soft manipulators, and (ii) expanding the feasible wrench space by distributing thrusters along the manipulator. However, no aerial robot has simultaneously satisfied these two requirements. Therefore, in this paper, we propose a morphing rotor-distributed aerial robot with flexible continuum links that achieves both high shape adaptability and an expanded wrench space. The flexible continuum links function as soft manipulators, passively conforming to the shape of the environment, while the thrusters distributed along the continuum links expand the feasible thrust wrench space and enable the end-effector to exert large interaction forces. To realize the proposed robot, it is essential to suppress vibrations of the lightweight continuum links. Thus, we develop a composite leaf-spring structure that provides both high torsional and vertical stiffness, and vibration-suppressing control methods. Using these implementations, we demonstrate stable flight and a variety of aerial manipulation tasks. To the best of our knowledge, this is the first work to realize aerial manipulations using flexible links with an integrated thruster.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-18 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2609.19328 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-10T04:47:38.806Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-18?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).