Past, Present, and Future of Aerial Robotic Manipulators

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi

Research output: Contribution to journalArticleAcademicpeer-review

164 Citations (Scopus)
51 Downloads (Pure)


This article analyzes the evolution and current trends in aerial robotic manipulation, comprising helicopters, conventional underactuated multirotors, and multidirectional thrust platforms equipped with a wide variety of robotic manipulators capable of physically interacting with the environment. It also covers cooperative aerial manipulation and interconnected actuated multibody designs. The review is completed with developments in teleoperation, perception, and planning. Finally, a new generation of aerial robotic manipulators is presented with our vision of the future.
Original languageEnglish
Article number9462539
Pages (from-to)626-645
Number of pages20
JournalIEEE transactions on robotics
Issue number1
Publication statusPublished - 1 Feb 2022


  • Robots
  • End effectors
  • Task analysis
  • Force
  • Vehicle dynamics
  • Propellers
  • Manipulator dynamics


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