Drawing inspiration from aerial hunting by birds of prey, we design and equip a quadrotor MAV with an actuated appendage enabling grasping and object retrieval at high speeds. We develop a nonlinear dynamic model of the system, demonstrate that the system is differentially flat, plan dynamic trajectories using the flatness property, and present experimental results with pick-up velocities at 2m/s (six body lengths/s) and 3m/s (nine body lengths/s).
Justin Thomas, Joe Polin, Koushil Sreenath, Vijay Kumar
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