Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust
Takuzumi Nishio Moju Zhao Tomoki Anzai Kunio Kojima Kei Okada Masayuki Inaba Takuzumi Nishio Moju Zhao Tomoki Anzai Kunio Kojima Kei Okada Masayuki Inaba
Precise aerial manipulation is important for multirotor robots. For multirotors equipped with arms, the root pose error due to the floating body affects the precision at the end effector. Fixed-root approaches, such as perching on surfaces using the rotor suction force, are useful to address this problem. Furthermore, it is difficult for arm-equipped multirotors to generate large wrenches at the e...