aiqbench analysis
This article describes DuctAM, a novel aerial manipulation platform designed to enhance horizontal force capabilities for physical interaction tasks like pushing and pulling. By integrating ducted fans along the quadrotor's axis and employing an attitude-force decoupled control scheme, the system achieves stable flight while delivering significantly higher interaction forces than conventional UAVs. The research validates these improvements through extensive real-world experiments involving trajectory tracking and practical manipulation tasks such as door closing and cart pushing.
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
arXiv:2609.15861v1 Announce Type: new Abstract: Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-pull operations are fundamental manipulation primitives that require sustained horizontal forces while maintaining stable flight. In this paper, we propose DuctAM, a compact aerial manipulation platform that enhances horizontal force capability for push-and-pull interactions using two ducted fans integrated along the quadrotor interaction axis. An attitude-force decoupled control scheme enables controllable horizontal forces without requiring large attitude changes. Extensive real-world experiments are conducted to validate the DuctAM. Figure-eight trajectory tracking experiments demonstrate stable flight and accurate motion control in both quad and duct modes. Force-measurement experiments quantify the decoupled longitudinal force capability of DuctAM. Finally, representative push-and-pull interaction tasks, including cart pushing, door closing, and drawer opening, verify the practical effectiveness of DuctAM. The results show that DuctAM achieves significantly improved horizontal interaction force capability while maintaining stable flight compared with conventional UAVs.
Abstract:Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-pull operations are fundamental manipulation primitives that require sustained horizontal forces while maintaining stable flight. In this paper, we propose DuctAM, a compact aerial manipulation platform that enhances horizontal force capability for push-and-pull interactions using two ducted fans integrated along the quadrotor interaction axis. An attitude-force decoupled control scheme enables controllable horizontal forces without requiring large attitude changes. Extensive real-world experiments are conducted to validate the DuctAM. Figure-eight trajectory tracking experiments demonstrate stable flight and accurate motion control in both quad and duct modes. Force-measurement experiments quantify the decoupled longitudinal force capability of DuctAM. Finally, representative push-and-pull interaction tasks, including cart pushing, door closing, and drawer opening, verify the practical effectiveness of DuctAM. The results show that DuctAM achieves significantly improved horizontal interaction force capability while maintaining stable flight compared with conventional UAVs.
Robotics (cs.RO)
arXiv:2609.15861 [cs.RO]
(or arXiv:2609.15861v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.15861 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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