الملخص
Uncrewed aerial manipulators (UAMs) integrate robotic arms with aerial platforms for three-dimensional physical interaction. However, enlarging the workspace increases arm-induced disturbances, while existing geometric representations face a trade-off between geometric fidelity and computational efficiency in close-proximity interaction. This paper presents QuadHand, a compact quadrotor aerial manipulator with a 3-DoF arm, gripper, and battery-assisted passive CoG compensation module to reduce dominant arm-induced disturbances. We further propose MRC-SDF, a Multi-articulated Robot-Centric Signed Distance Field that preserves fine geometric detail with tractable computation, and a spatiotemporal whole-body trajectory optimization framework that jointly optimizes the quadrotor and manipulator for safe and executable trajectory generation. Simulations and real-world experiments demonstrate safe and executable aerial manipulation in complex environments.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Jin, R., Liu, R., Xu, X., Jin, H., Wang, Y., Yang, Y., & Xie, L. (2026). QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning. https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning
MLA 9
Jin, Rui, et al. "QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning." https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning.
شيكاغو (المؤلف–التاريخ)
Jin, Rui, Ruiyang Liu, Xinhang Xu, Haotian Jin, Yi Wang, Yizhuo Yang, and Lihua Xie. 2026. "QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning." https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning.
هارفارد
Jin, R., Liu, R., Xu, X., Jin, H., Wang, Y., Yang, Y. and Xie, L. (2026) 'QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning', Available at: https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning.
فانكوفر
Jin R, Liu R, Xu X, Jin H, Wang Y, Yang Y, et al. QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning. https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning
IEEE
R. Jin, R. Liu, X. Xu, H. Jin, Y. Wang, Y. Yang, and L. Xie, "QuadHand: A Compact Quadrotor Aerial Manipulator with MRC-SDF-Based Whole-Body Motion Planning," https://omanscience.com/ar/articles/quadhand-a-compact-quadrotor-aerial-manipulator-with-mrc-sdf-based-whole-body-motion-planning.