{
  "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.",
  "assignees": [
    "UNIV HONG KONG"
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  "authors": [
    "LU PENG",
    "PENG RUI",
    "WANG ZEHAO"
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:12:17.859260Z",
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  "source_date": "2026-03-03",
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  "title": "Aerial continuum manipulator with kinematics for variable loading and minimal tendon-slacking",
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