Report on Current Developments in Robotic Aerial Grasping and Manipulation

General Direction of the Field

The field of robotic aerial grasping and manipulation is witnessing a significant shift towards more dexterous, efficient, and safe systems. Recent advancements are characterized by a focus on reducing complexity and cost while enhancing performance and robustness. Innovations in motor control, modular design, and control algorithms are driving these improvements, enabling robots to handle a wider range of tasks in dynamic and unpredictable environments.

One of the key trends is the integration of time-division multiplexing (TDM) mechanisms in robotic hands, which allow for a higher degree of dexterity with fewer motors. This approach not only reduces the cost of robotic systems but also enhances their stability and impact resistance, making them suitable for complex grasping and manipulation tasks.

Another notable development is the co-optimization of morphology and control in modular satellite systems. This approach addresses the long-standing challenge of designing satellites that can adapt to specific mission constraints, leading to more efficient and resilient space exploration. The use of gradient-based optimization techniques is particularly promising, as it offers a more efficient alternative to traditional evolution-based methods.

In the realm of aerial grasping, there is a growing emphasis on soft aerial vehicles (SAVs) equipped with advanced control systems, such as disturbance observer-based model predictive control (DOMPC). These systems are designed to handle payloads more precisely and safely, even in the presence of environmental disturbances. The ability to achieve high payload-to-weight ratios is a significant advancement, making these systems more versatile for various applications, including drone delivery and harvesting.

Safety remains a critical concern, particularly in environments where UAVs operate close to humans or delicate objects. Recent innovations in ducted fan UAVs, which use electromagnets for safe grasping and transfer of multiple loads, address this issue by eliminating the risk posed by unprotected propellers. These systems also enable direct human-UAV cargo transfers, expanding their potential applications.

Finally, the introduction of drone-tethered mobile grippers, such as SPIBOT, represents a novel approach to robust aerial object retrieval in dynamic environments. These systems leverage tethering to maintain a safe distance from the target, ensuring stable and secure grasping even in challenging conditions. The integration of real-time action selection algorithms further enhances their adaptability and mission success rates.

Noteworthy Papers

• MuxHand: Demonstrates a significant reduction in motor count while maintaining high dexterity and stability through innovative magnetic joint integration.
• Morphology and Behavior Co-Optimization of Modular Satellites: Introduces a gradient-based approach to co-optimize satellite morphology and control, outperforming evolution-based methods.
• Aerial Grasping with Soft Aerial Vehicle Using Disturbance Observer-Based Model Predictive Control: Achieves impressive payload-to-weight ratios and precise control in dynamic environments.
• A Ducted Fan UAV for Safe Aerial Grabbing and Transfer of Multiple Loads Using Electromagnets: Enhances safety and efficiency in UAV operations through the use of ducted fans and electromagnets.
• SPIBOT: Introduces a drone-tethered mobile gripper for robust aerial object retrieval, showcasing adaptability and mission success in dynamic conditions.