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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12564943-B2, on 3 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002331

Aerial continuum manipulator with kinematics for variable loading and minimal tendon-slacking

Published
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Classification
Robotics & Automation › Robot Architectures
Inventors
LU PENG, PENG RUI, WANG ZEHAO
Assignee
UNIV HONG KONG
Original source
US-12564943-B2, the United States Patent and Trademark Office, 3 March 2026
Document SHA-256
e63cf11c831e7fa53e893465a795928de75791f39cb47bba92af95feaa8a38bf

Abstract

The subject invention pertains to a novel aerial manipulation system with a flying continuum robotic manipulator (AeCoM). A lightweight tendon-driven continuum robotic arm is coupled with an unmanned aerial vehicle. An attitude sensor (IMU) is used to assist in PCC (Piecewise Constant Curvature) configuration. A tension-based closed-loop control method is used to avoid tendon slacking in manipulating the shape of the continuum arm. The system can achieve improved relative payload capability and motion dexterity. Experimental results validate the performance of tendon-slacking avoidance and kinematics accuracy with different tip loading and tip positioning accuracy for aerial grasping.

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Citation

OpenTechnical Publication OT-2026-000002331, “Aerial continuum manipulator with kinematics for variable loading and minimal tendon-slacking,” published September 15, 2026 at 19:12:17 UTC, https://opentechnical.org/p/OT-2026-000002331.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.