Nature Communications paper.
Paper link: https://www.nature.com/articles/s41467-024-55157-2
PDF link: https://rdcu.be/d7B8C

This paper proposes a highly dexterous and compliant aerial continuum manipulator (Aerial Elephant Trunk). We have proposed the design, designed the shape estimation method, developed a feedback controller, and proposed a whole-body motion planning module such that the UAV and the continuum manipulator could carry out tasks as a whole.

AET can perform various challenging aerial manipulation tasks, including but not limited to:
1) grasping object of various sizes and shapes;
2) traversing constrained pipelines with various shapes;
3) aerial writing/painting;
4) performing manipulation in various complex environments.

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