# An Experimental Study of Downwash Effects on a Continuum Manipulator Integrated with a Multirotor UAV

arXiv: https://arxiv.org/abs/2608.18507 · HTML: https://mlsanity.com/paper/2608.18507/

## Key facts

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

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

- [Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation](https://mlsanity.com/paper/2609.28716/) (2026)

## Abstract (arXiv)

Continuum arm aerial manipulation systems leverage soft-manipulator compliance and dexterity for tasks in confined or hazardous environments, but propeller downwash can degrade performance, particularly near walls and the ground. This effect remains uncharacterized for continuum manipulators. This letter experimentally studies downwash-induced kinematic deviations of a tendon-driven continuum manipulator integrated with a multirotor platform. Under still-air conditions, the CM is compared with a constant-curvature (CC) model. Downwash- induced end-effector pose deviations are then quantified relative to the mean still-air experimental baseline at four propeller throttle levels in free space, and at maximum throttle near a wall, and near the ground. Vertical position and yaw show the largest deviations and are amplified by ground effect. A CC-guided Gaussian process regression (GPR) residual model is learned from experimental data that improves forward pose prediction RMSE (position by 89-95%, orientation by 47-79%), and support compensation-oriented, downwash-aware modeling of continuum arm aerial manipulation systems.