Problem
Research questions and friction points this paper is trying to address.
Uncrewed aerial manipulators
Arm-induced disturbances
Geometric representation
Close-proximity interaction
QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning
🤖 AI Summary
This study addresses the challenges of disturbance rejection and the trade-off between precision and efficiency during close-proximity interactions in UAV-manipulator operations by developing a compact aerial manipulator named QuadHand. Methodologically, it proposes a battery-assisted passive center-of-gravity compensation technique to suppress manipulator-induced disturbances. Additionally, a Multi-Joint Robot-Centered Signed Distance Field (MRC-SDF) is constructed to balance fine geometric feature preservation with computational efficiency. A spatiotemporally coupled whole-body trajectory optimization framework is further designed to enable coordinated planning for the quadrotor and manipulator. Both simulation and real-world experiments validate the system's capability to generate safe, executable trajectories in complex environments, achieving stable and efficient aerial manipulation.
📝 Abstract
Uncrewed aerial manipulators (UAMs) integrate robotic arms with aerial platforms for three-dimensional physical interaction. However, enlarging the workspace increases arm-induced disturbances, while existing geometric representations face a trade-off between geometric fidelity and computational efficiency in close-proximity interaction. This paper presents QuadHand, a compact quadrotor aerial manipulator with a 3-DoF arm, gripper, and battery-assisted passive CoG compensation module to reduce dominant arm-induced disturbances. We further propose MRC-SDF, a Multi-articulated Robot-Centric Signed Distance Field that preserves fine geometric detail with tractable computation, and a spatiotemporal whole-body trajectory optimization framework that jointly optimizes the quadrotor and manipulator for safe and executable trajectory generation. Simulations and real-world experiments demonstrate safe and executable aerial manipulation in complex environments.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Aerial Manipulator
Signed Distance Field
Whole-Body Motion Planning
Trajectory Optimization
Center of Gravity Compensation
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