SmallScale Compliant Dual Arm with Tail for Winged Aerial Robots Winged aerial robots represent an evolution of aerial manipulation robots, replacing the multirotor vehicles by fixed or flapping wing platforms. The development of this morphology is motivated in terms of efficiency, endurance and safety in some inspection operations where multirotor platforms may not be suitable. This paper presents a first prototype of compliant dual arm as preliminary step towards the realization of a winged aerial robot capable of perching and manipulating with the wings folded. The dual arm provides 6 DOF (degrees of freedom) for end effector positioning in a humanlike kinematic configuration, with a reach of 25 cm (halfscale w.r.t. the human arm), and 0.2 kg weight. The prototype is built with micro metal gear motors, measuring the joint angles and the deflection with small potentiometers. The paper covers the design, electronics, modeling and control of the arms. Experimental results in testbench validate the developed prototype and its functionalities, including joint position and torque control, bimanual grasping, the dynamic equilibrium with the tail, and the generation of 3D maps with laser sensors attached at the arms.

Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module We present a novel transformable multilinked aerial robot which consists of link modules with 1 DoF thrust vectoring mechanism. Commonly used UAV is underactuated due to its simplicity and high flight duration, but can not control the position and orientation independently. To overcome this problem, fully actuated multirotor aerial robots have been developed. In our previous work we developed fully actuated multilinked aerial robot which can transform in the air. However, the transformation range was limited because of a singularity problem. In this paper we propose a new design of link module with a tilted rotor and 1 DoF thrust vectoring joint which enables to avoid singularity forms and keep the flight stable during transformation. We describe modeling and control for the fully actuated multilinked multirotor. Then we propose a transformation planning method utilizing the 1 DoF thrust vectoring angle with consideration of guaranteed minimum forcetorque. Finally we perform an aerial transformation experiment with a real platform to demonstrate the feasibility of our proposed design and methods.