Enhancing UAV capabilities for Object Picking: A flying Manipulator with Stiffness Control

Unmanned aerial vehicles (UAVs) have gained widespread popularity in various applications. However, their physical interaction capabilities, especially object picking, remain a challenge. This paper presents the system overview of a novel flying manipulator, combining a quadrotor platform with a direct-drive gripper. The study examines the viability of high-speed scooping based on stiffness control with a flying manipulator. By leveraging stiffness control, the gripper offers a significant advantage over rigid grippers by avoiding large contact forces that may destabilize the flying platform. This enables efficient and reliable retrieval of flat objects from the ground without the need for overly cautious maneuvers. Successful results are demonstrated, showcasing the practicality and effectiveness of the gripper-drone integration for physical interactions. This development opens avenues for further advancements in UAV capabilities and expands their potential for real-world applications.