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On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review.

Jiawei Meng¹, Joao Buzzatto², Yuanchang Liu¹

¹Department of Mechanical Engineering, University College London, London, United Kingdom.

Frontiers in Robotics and AI

|April 11, 2022

Summary

Aerial robots are gaining grasping and perching abilities for complex tasks. This review details current mechanisms, comparing their pros and cons for future aerial robotic applications.

Keywords:

aerial robots grasping perching robotic gripping mechanisms unmanned aerial vehicles

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Area of Science:

Robotics
Aerospace Engineering
Mechanical Engineering

Background:

Growing industry and research interest in aerial robots with grasping and perching capabilities.
Aerial robots encompass multicopters, autonomous helicopters, and fixed-wing/hybrid devices.
Grasping and perching enable complex environmental interactions for aerial robots.

Purpose of the Study:

To present a state-of-the-art review of aerial grasping and perching mechanisms.
To provide a comprehensive comparison of existing aerial grasping and perching technologies.
To analyze the advantages and disadvantages of various proposed mechanisms.

Main Methods:

Classification of grasping and perching solutions into six categories: simple grippers, arm-grippers, tethered mechanisms, reconfigurable frames, adhesion, and embedment.
Comparative analysis of the characteristics, advantages, and disadvantages of these mechanisms.
Summarization of significant achievements in aerial grasping and perching research.

Main Results:

Identification and categorization of six primary approaches to aerial grasping and perching.
Detailed comparison highlighting the strengths and weaknesses of each technological solution.
Overview of key advancements and successful implementations in the field.

Conclusions:

Aerial grasping and perching are critical for expanding robot functionalities in areas like delivery and inspection.
The review provides a foundational understanding of current technologies and their limitations.
Future research directions are proposed to advance aerial robot capabilities in interaction and autonomy.