Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control
Fuente:
arXiv
Gespeichert in:
| Hauptverfasser: | , , , |
|---|---|
| Format: | Preprint |
| Veröffentlicht: |
2026
|
| Schlagworte: | |
| Online-Zugang: | |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| _version_ | 1866917313604747264 |
|---|---|
| author | Zhan, Yuanzhu Jiang, Yufei Cao, Muqing Geng, Junyi |
| author_facet | Zhan, Yuanzhu Jiang, Yufei Cao, Muqing Geng, Junyi |
| contents | Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture (MoCap) and emphasize position control for coarse interactions, limiting deployability. We present a fully onboard perception-control pipeline for contact-rich AM that achieves accurate motion tracking and regulated contact wrenches without MoCap. The main components are (1) an augmented visual-inertial odometry (VIO) estimator with contact-consistency factors that activate only during interaction, tightening uncertainty around the contact frame and reducing drift, and (2) image-based visual servoing (IBVS) to mitigate perception-control coupling, together with a hybrid force-motion controller that regulates contact wrenches and lateral motion for stable contact. Experiments show that our approach closes the perception-to-wrench loop using only onboard sensing, yielding an velocity estimation improvement of 66.01% at contact, reliable target approach, and stable force holding-pointing toward deployable, in-the-wild aerial manipulation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_08251 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control Zhan, Yuanzhu Jiang, Yufei Cao, Muqing Geng, Junyi Robotics Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture (MoCap) and emphasize position control for coarse interactions, limiting deployability. We present a fully onboard perception-control pipeline for contact-rich AM that achieves accurate motion tracking and regulated contact wrenches without MoCap. The main components are (1) an augmented visual-inertial odometry (VIO) estimator with contact-consistency factors that activate only during interaction, tightening uncertainty around the contact frame and reducing drift, and (2) image-based visual servoing (IBVS) to mitigate perception-control coupling, together with a hybrid force-motion controller that regulates contact wrenches and lateral motion for stable contact. Experiments show that our approach closes the perception-to-wrench loop using only onboard sensing, yielding an velocity estimation improvement of 66.01% at contact, reliable target approach, and stable force holding-pointing toward deployable, in-the-wild aerial manipulation. |
| title | Aerial Manipulation with Contact-Aware Onboard Perception and Hybrid Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2602.08251 |