Design and Implementation of a Contact Aerial Manipulator System for GlassWall Inspection Tasks Glass curtain walls have been widely used in modern architecture. This makes it urgent to inspect and clean these glasses at regular intervals. Up to now, most of these work is performed by workers, which is expensive and inefficient. Therefore, a novel robotxe2x80x94the contact aerial manipulator systemxe2x80x94is developed. The new designed system presents priorities in the aspects of high flexibility and easy operation. In this paper, the system mechanical structure is first introduced. Subsequently, the hybrid forcemotion control framework is utilized to realize the precise and steady motion on the twodimensional plane and maintain a certain sustained contact force, simultaneously. Finally, two flight experiments (including continuous squarewave trajectory tracking and aerial drawing task) are performed and the results indicate that the developed contact aerial manipulator works and presents good performance.

Hybrid ForceMotion Control and Implementation of an Aerial Manipulator towards Sustained Contact Operations Contactbased operation in moving process is a challenging problem for aerial manipulators. It requires the whole system to maintain steady contact with external environment, to track some predefined trajectories on surfaces, and simultaneously to present some fixed contact force. Aiming at this problem, a hybrid forcemotion control framework is proposed in this paper. In this framework, contact force control and position control are performed separately in two orthogonal subspaces: constrained space and freeflight space. To control the contact force, the closedloop unmanned aerial vehicle is first theoretically shown to behave dynamically as a springmassdamper system. Further, an inversedynamicsbased controller is proposed. To control the moving along the contact surface, trajectory planning and position controller are combined to achieve the steady behavior in a freeflight subspace. In the end, an aerial manipulator system with a rollertype endeffector was designed, and practical flight experiments was performed. The results indicate that the proposed framework is effective and validity.