Design and Control of a Micro Overactuated Aerial Robot with an Origami Delta Manipulator
Eugenio Cuniato,Christian Geckeler,Maximilian Brunner,Dario Strübin,Elia Bähler,Fabian Ospelt,Marco Tognon,Stefano Mintchev,Roland Siegwart,Eugenio Cuniato,Christian Geckeler,Maximilian Brunner,Dario Strübin,Elia Bähler,Fabian Ospelt,Marco Tognon,Stefano Mintchev,Roland Siegwart
This work presents the mechanical design and control of a novel small-size and lightweight Micro Aerial Vehicle (MAV) for aerial manipulation. To our knowledge, with a total take-off mass of only 2.0 kg, the proposed system is the most lightweight Aerial Manipulator (AM) that has 8-DOF independently controllable: 5 for the aerial platform and 3 for the articulated arm. We designed the robot to be ...
