Problem
Research questions and friction points this paper is trying to address.
Uncrewed Aerial Manipulators
push-and-pull interactions
horizontal forces
stable flight
DuctAM: A Duct-Assisted Quadrotor-Based Aerial Manipulator Enabling High-Force Push-and-Pull Interactions
🤖 AI Summary
本文提出DuctAM，一种集成两个导管风扇的空中操作平台，通过姿态-力解耦控制方案增强水平推拉力，实现实验验证。
📝 Abstract
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 horizontal forces without requiring large attitude changes. Extensive real-world experiments are conducted to validate the DuctAM. Figure-eight trajectory tracking experiments demonstrate stable flight and accurate motion control in both quad and duct modes. Force-measurement experiments quantify the decoupled longitudinal force capability of DuctAM. Finally, representative push-and-pull interaction tasks, including cart pushing, door closing, and drawer opening, verify the practical effectiveness of DuctAM. The results show that DuctAM achieves significantly improved horizontal interaction force capability while maintaining stable flight compared with conventional UAVs.
Innovation
Methods, ideas, or system contributions that make the work stand out.
duct-assisted
attitude-force decoupled control
horizontal force capability
quadrotor-based aerial manipulator
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