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We present a new aerial robotic manipulator (AEROM) for aerial dexterous operations in this work. It contains a robotic manipulator with 6-degree-of-freedom and a compact flight platform. Firstly, we propose a quantitative capability index to evaluate and guide the mechanical design of the AEROM. Based on the proposed quantitative index, we construct a lightweight bird-inspired manipulator to imitate a raptor hindlimb. An additional telescopic joint and an end-effector consisting of three soft fingers allow the AEROM to execute aerial interaction tasks. In addition, the wrist joints enable independent control of the end-effector attitude regardless of the flight platform. After explicitly analyzing the multi-source disturbances during the aerial operation tasks, we develop a refined anti-disturbance controller to compensate for the disturbances with different characteristics. The proposed controller further improves the position accuracy of end-effector to enable dexterous operations during aerial interaction tasks. Finally, the physical experiments verify the effectiveness of the proposed AEROM system.<\/jats:p>","DOI":"10.1007\/s10846-024-02090-7","type":"journal-article","created":{"date-parts":[[2024,4,26]],"date-time":"2024-04-26T02:01:33Z","timestamp":1714096893000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A Compact Aerial Manipulator: Design and Control for Dexterous Operations"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4837-0524","authenticated-orcid":false,"given":"Qianyuan","family":"Liu","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0006-1506-5458","authenticated-orcid":false,"given":"Yuhang","family":"Liu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0009-0688-7662","authenticated-orcid":false,"given":"Zeshuai","family":"Chen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0459-5027","authenticated-orcid":false,"given":"Kexin","family":"Guo","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9005-3733","authenticated-orcid":false,"given":"Xiang","family":"Yu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9731-5943","authenticated-orcid":false,"given":"Youmin","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3061-2337","authenticated-orcid":false,"given":"Lei","family":"Guo","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,4,26]]},"reference":[{"issue":"1","key":"2090_CR1","doi-asserted-by":"publisher","first-page":"626","DOI":"10.1109\/TRO.2021.3084395","volume":"38","author":"A Ollero","year":"2022","unstructured":"Ollero, A., Tognon, M., Suarez, A., Lee, D., Franchi, A.: Past, present, and future of aerial robotic manipulators. 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