arxivcs.RO2026-07-03
U-Joint CAAMS: Experimental Evaluation of a Universal-Joint Continuum Manipulator for Aerial Manipulation
Anuraj Uthayasooriyan, Musab Alibrahim, Krishna Manaswi Digumarti, Fernando Vanegas, Felipe Gonzalez
Continuum manipulators mounted on multi-rotor UAVs enable compliant aerial manipulation, but payloads and propeller downwash amplify out-of-plane bending and twisting that degrade end-effector pose accuracy. To address this problem, we present a universal-joint-based continuum ma…