## 1 Introduction  
The multirotor type unmanned aerial vehicle (UAV), which is simply called a drone, has increased in popularity in the consumer industry and industrial applications in the last 10 years. Because of their flight stability, easier operation, and autonomy, they are not only useful for hobbyist applications, but also for industrial applications such as civil engineering surveys, security, agriculture, infrastructure inspections, logistics, remote sensing [1], and many other fields. In addition, in high-altitude tasks which can pose danger to human workers, such as maintenance of bridges, tunnel roofs, windmill blades, dam walls, and high-voltage electric lines, assistance by multirotor UAVs can be a promising application. The technique of physical interaction with the environment by using a manipulator attached to the aerial robot is called \"aerial manipulation\", and many studies are focused on it [2; 3; 4]. In previously reported studies, a robotic gripper or arm is equipped on the bottom of the multirotor to perform the manipulation task downward from the body frame [5], on its side for contact inspection [6], or on its top for perching on a high altitude place [7; 8], torsional task [9], and contact inspection of the roof [10]. Although several aerial manipulation tasks are successfully performed in these studies, it is still challenging to realize both the positioning and manipulation task with high accuracy. Traditional multirotors are able to take-off and land vertically on the ground and can move vertically while keeping the attitude of the body horizontal. However, it requires tilting the airframe for translating and generating contact force in horizontal direction. This motion affects the multirotor to perform the task not so smoothly. In addition, to stop the multirotor in horizontal direction after it moves, it requires break-like motion by quickly tilting the airframe in opposite direction. These movements make it difficult for the multirotor to move finely to accurately position itself and often prevents performing smooth manipulation tasks. Therefore, to realize aerial manipulation task in higher accuracy, it is desirable that the translation and attitude control of the multirotor be separated. To perform the position and attitude control of multirotor independently, which is impossible with a typical multirotor, several studies on novel platform development are reported in [11; 12; 13; 14; 15; 16; 17]. An omnidirectional aerial vehicle with unidirectional thrusters fixed to its airframe is proposed in [11; 12]. The control algorithm was designed by [11] and the aerial robot was developed to perform the translation and attitude control on SE(3) separately [12]. Another approach for realizing positing and attitude independently is by tilting the rotors of a multirotor [13; 14]. In [13], a quad tilt rotor UAV is developed and successfully showed hovering of the quad rotor with a 90 deg pitch angle. In [14], the design and optimal control of a novel omnidirectional vehicle that can exert a wrench in any orientation while maintaining efficient flight configurations is presented. In [15; 17], a novel multi-linked type of multirotor is developed and performed a manipulation task [16]. In all of these studies, new aerial robot hardware structures and control techniques are needed to put them to practical use. On the other hand, many flight controllers that can fly typical multirotors with high stability are already in the market and are widely being used. The availability of these platforms, which are used in today's major applications such as aerial photography and transportation, is convenient and leads to greater reach. Therefore, we focus on utilizing a typical type of multirotor. To realize position and attitude control independently with typical type of multirotor, we propose an add-on planar translational driving system (hereafter, ATD), which consists of three ducted fans arranged to generate thrust in the horizontal direction, as shown in Figure 1a.