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Development of SAM: cable-Suspended Aerial Manipulator

Abstract : High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.
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Contributor : Antonio Franchi <>
Submitted on : Friday, March 15, 2019 - 4:11:53 PM
Last modification on : Friday, January 10, 2020 - 9:10:16 PM


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  • HAL Id : hal-02069383, version 1


Yuri Sarkisov, Min Kim, Davide Bicego, Dzmitry Tsetserukou, Christian Ott, et al.. Development of SAM: cable-Suspended Aerial Manipulator. IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada. ⟨hal-02069383⟩



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