2A1-E10 Aerial Grasping and Load Transportation Using Multirotor Helicopters : Towards Moving Long-size Payload

In this paper, we propose a solution for grasping and moving long-size payload such as pipes or wood using a multirotor helicopter. In order to perform this task, a couple of grippers were mounted under the helicopter for a better grasping and safe transportation. Some experiments performed show that the helicopter can safely grasp and move the payload to another place. By means of an on-board camera, the helicopter can provide visual information to the user at the moment of the aerial manipulation using either a First Personal View video goggles or a small monitor. The complete system is commanded using a single radio control.