UAV-Manipulator Systems for Aerial Manipulation

Research Problems

  • Coupling dynamics between UAV and arm
  • Contact dynamics between arms and environment
  • Coordinated control of the UAV and arms
  • Lightweight arm design and extra power demanding​
  • Challenges on human operation​
  • Challenge on safe and fully controlled testing​
  • Uncertainties (e.g., wind, rain, dust, parts failures)​

Potential Applications

  • Inspects and fix large or tall structures
  • Perches on various spots like a bird
  • Picks and places a payload
  • Performs dexterous aerial manipulations
  • Rescues operations after natural disasters
  • Assembly and construction
  • 3D printing large structures from air