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DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
Uncrewed Aerial Manipulators (UAMs) extend the capabilities of Uncrewed Aerial Vehicles (UAVs) from perception to physical interaction. Among various aerial interactions, push-and-pull operations are fundamental manipulation primitives that require sustained horizontal forces while maintaining stable flight. In this paper, we propose DuctAM, a compact aerial manipulation platform that enhances horizontal force capability for push-and-pull interactions using two ducted fans integrated along the quadrotor interaction axis. An attitude-force decoupled control scheme enables controllable horizonta
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-14T16:54:11.000Z
First collected: 2026-09-20T09:41:04.278Z. This is not the publication date.