# Development of SAM: cable-Suspended Aerial Manipulator

arXiv: https://arxiv.org/abs/1903.02426 · HTML: https://mlsanity.com/paper/1903.02426/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Mar 2019.

## Built on by (most cited first, 3 of 3)

- [Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities](https://mlsanity.com/paper/2210.09678/) (2022)
- [SPIRIT: Perceptive Shared Autonomy for Robust Robotic Manipulation under Deep Learning Uncertainty](https://mlsanity.com/paper/2603.05111/) (2026)
- [Learning Swing-up Maneuvers for a Suspended Aerial Manipulation Platform in a Hierarchical Control Framework](https://mlsanity.com/paper/2506.13478/) (2025)

## Abstract (arXiv)

High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.