# Aerial Mobile Manipulator System to Enable Dexterous Manipulations with Increased Precision

arXiv: https://arxiv.org/abs/2010.09618 · HTML: https://mlsanity.com/paper/2010.09618/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Oct 2020.

## Built on by (most cited first, 1 of 1)

- [Clutter Slices Approach for Identification-on-the-fly of Indoor Spaces](https://mlsanity.com/paper/2101.04262/) (2021)

## Abstract (arXiv)

Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility while on-board manipulators are increasingly be used for manipulability. However, the dynamic coordination between the UAV and on-board manipulator remains a significant obstacle to enable dexterous manipulation with high precision. This paper presents an AMM system configuration to addresses both the mobility and manipulability issues together. A fully-actuated UAV is chosen to achieve dexterous aerial mobile manipulation, but is limited by the actuation range of the UAV. An on-board manipulator is employed to enhance the performance in terms of dexterity and precision at the end-effector. Experimental results on position keeping of the dexterous hexrotor by withstanding the disturbances caused by the motions of the on-board manipulator and external wind disturbances are presented. Preliminary simulation results on end-point tracking in a simple planar on-board manipulator case is presented.