This academic article discusses a humanoid robot attached to a hexacopter, capable of performing physically interactive tasks in unstructured environments. The robot has a humanoid torso with a two-degree-of-freedom head and two five-degree-of-freedom arms equipped with softhands for dexterity. The arms have a robust tendon-driven structure, reducing the impact of arm inertia on the floating base in motion and providing flexibility to the joints. The system is designed to increase the payload and battery life of the aerial system and can be controlled remotely by a human operator, effectively realizing a Suspended Aerial Manipulation Avatar.
Publication date: 6 Oct 2023
Project Page: Not provided
Paper: https://arxiv.org/pdf/2310.03586
