FAM-DQ: A Dual-Quadrotor-Based Fully Actuated Aerial Manipulator for High-Torque Interaction

arXiv:2608.13220v1 Announce Type: new Abstract: Aerial physical interaction requires aerial manipulation platforms to generate large interaction forces and torques while maintaining precise end-effector control. However, conventional underactuated aerial manipulators suffer from strong position-attitude coupling, whereas fully actuated platform designs often face structural complexity, limited payload capacity, and insufficient torque output. This paper presents FAM-DQ, a dual-quadrotor based fully actuated aerial manipulator designed for high-torque physical interaction tasks. By mounting two quadrotor propulsion modules at the ends of a central frame through passive joints, while using a gear-driven servo to regulate the pointing direction, FAM-DQ achieves decoupled 6-DoF end-effector control with omnidirectional manipulation capability and enhanced torque output. Experiments including trajectory tracking, attitude tracking, static torque measurement, and screw driving validate the proposed design. FAM-DQ achieves a maximum torque of 1.019Ndotm with a total mass of 0.447kg, corresponding to a torque-to-mass ratio of 2.28~Ndotm/kg.

Source: arXiv cs.RO | 2026-08-14