Tilt-X: Enabling Compliant Aerial Manipulation through a Tiltable-Extensible Continuum Manipulator
Anuraj Uthayasooriyan, Krishna Manaswi Digumarti, Jack Ronald Breward, Fernando Vanegas Alvarez, Julian Galvez-Serna, Felipe Gonzalez
AI summary
Problem
Existing continuum arm aerial manipulators are restricted to downward-only manipulation, lack flexibility in cluttered environments, and suffer from accuracy loss due to propeller downwash and proximity effects.
Approach
The authors developed Tilt-X, a prototype integrating a tilting hinge, telescopic extension, and cable-driven continuum section, and validated its kinematic model and pose accuracy through bench-top and flight experiments under varying downwash and obstacle conditions.
Key results
- Achieved a volumetric workspace with 75 mm extension and 0°–90° tilt range
- Validated kinematic model predictions against experimental workspace data
- Quantified end-effector pose accuracy under propeller downwash, ground, and wall proximity
- Demonstrated pose stabilization as the arm extends beyond the propeller downwash zone
Why it matters
Enables more reliable and dexterous aerial inspection and sampling by addressing critical workspace and downwash challenges in continuum arm UAVs.
Abstract
Aerial manipulators extend the reach and ma- nipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and compliant interaction opportunities. Existing designs allow manipulation only below the UAV which restricts their deploya- bility in multiple directions and through clutter. They are also sensitive to propeller downwash. Addressing these limitations, we present Tilt-X, a continuum arm aerial manipulator that integrates a tilting mechanism, a telescopic stage, and a cable- driven continuum section. We present its design and kinematic model and validate it through flight demonstrations. Tilt-X enables a volumetric workspace with up to 75 mm extension and planar orientations between 0◦to 90◦. Experiments comparing end effector pose with and without downwash quantitatively measure its accuracy, providing critical evidence to guide the design and control of reliable aerial manipulators. Results show stabilisation of end effector pose as the manipulator extends out of the propeller influence zone.