Publications
Conference papers and research contributions
Accepted Papers
Accepted
Grasping as Anchoring: Expanding Urban Perching with a Hybrid Gripper for Aerial Robots
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
Abstract
This paper presents a hybrid aerial manipulation system that decouples a compliant grasping interface from a rigid anchoring load path. The system combines a coaxial eye-in-hand camera, visual servoing, and robust flight control to enable grasping of everyday objects, perching on heterogeneous pole geometries, and stop-sign perching through a graspable adapter.
Autonomous Perching
Computer Vision
Control Systems
Aerial Robotics
Aerial Manipulation
1
Paper Accepted
3
Research Projects
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