OPENTECHNICAL PUBLICATION
OT-2026-000002331

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

Published: 2026-09-15T19:12:17.859260Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002331
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002331
Published 2026-09-15T19:12:17.859260Z
https://opentechnical.org/p/OT-2026-000002331