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FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction — arXiv:2608.13220

Source: arXiv (en)
Original: https://arxiv.org/abs/2608.13220
License (as archived): CC0-1.0
Archived: 2026-10-19T04:56:30.297Z
SHA-256 of the archived text: 09a1f1dd0b6a1014206517dfc34532e0515b74d12d74be1389d4d8a8d434e444
Stable URL of this page: https://metraipolis.com/documento/dc_aa87f77db594

How to cite

FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction — arXiv:2608.13220 — arXiv (en), https://arxiv.org/abs/2608.13220 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_aa87f77db594 (Metraipolis archive dc_aa87f77db594, sha256 09a1f1dd0b6a1014206517dfc34532e0515b74d12d74be1389d4d8a8d434e444)

BibTeX

@misc{dcaa87f77db594,
  title = {FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction — arXiv:2608.13220},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2608.13220},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_aa87f77db594; sha256 09a1f1dd0b6a1014206517dfc34532e0515b74d12d74be1389d4d8a8d434e444},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2608.13220. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled $6$-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of $1.019~\mathrm{N}\cdot\mathrm{m}$ with a total mass of $0.447~\mathrm{kg}$, corresponding to a torque-to-mass ratio of $2.28~\mathrm{N}\cdot\mathrm{m/kg}$.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-08-14 in cs.RO).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2608.13220 — 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 2026-10-19T04:47:48.658Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-08-14?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).