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CAPTURER: A Dexterous Aerial Manipulator for Dynamic and Precise Grasping across Diverse Environments — arXiv:2610.39119

Source: arXiv (en)
Original: https://arxiv.org/abs/2610.39119
License (as archived): CC0-1.0
Archived: 2026-11-01T02:44:20.734Z
SHA-256 of the archived text: b4b0a902c3c7c32093c35f9e444879cc20405ad9c2decb476a40f2e9909e24f5
Stable URL of this page: https://metraipolis.com/documento/dc_f9745ed416bb

How to cite

CAPTURER: A Dexterous Aerial Manipulator for Dynamic and Precise Grasping across Diverse Environments — arXiv:2610.39119 — arXiv (en), https://arxiv.org/abs/2610.39119 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_f9745ed416bb (Metraipolis archive dc_f9745ed416bb, sha256 b4b0a902c3c7c32093c35f9e444879cc20405ad9c2decb476a40f2e9909e24f5)

BibTeX

@misc{dcf9745ed416bb,
  title = {CAPTURER: A Dexterous Aerial Manipulator for Dynamic and Precise Grasping across Diverse Environments — arXiv:2610.39119},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2610.39119},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_f9745ed416bb; sha256 b4b0a902c3c7c32093c35f9e444879cc20405ad9c2decb476a40f2e9909e24f5},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2610.39119. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

As a representative form of embodied robotic interaction, aerial grasping requires close coordination between the aerial platform and manipulator. Most existing systems perform aerial grasping with static or slowly moving targets under fixed scenarios. Dynamic and precise grasping across different conditions introduces additional challenges, including target motion, localization drift, dynamic coupling, and external disturbances. In this work, we present CAPTURER, a dexterous aerial manipulator for centimeter-level grasping across diverse environments. To achieve the challenging goal, we first develop an onboard perception system for state estimation and target detection. Drift correction and global pose transformation are introduced to improve target localization during flight. A cooperative motion planner is proposed to coordinate the mobility of the aerial platform with the dexterity of the manipulator according to the relative target state. To maintain grasping accuracy under disturbances, we design a disturbance-rejection controller to compensate for dynamic coupling, model uncertainty, and external disturbances. The capability of CAPTURER is validated through indoor and outdoor experiments with both static and moving targets. The results demonstrate that CAPTURER achieves centimeter-level grasping accuracy for a marker pen measuring only 1.5 cm in diameter at flight speeds exceeding 1.5 m/s.

Tema degli esploratori: statistica e scienza dei dati (elenco arXiv cs.RO, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO).
Pagina del lavoro: https://arxiv.org/abs/2610.39119 — 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 2026-11-01T02:16:58.647Z dalla pagina https://arxiv.org/list/cs.RO/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).