Omnidirectional Dual-Arm Aerial Manipulator with Proprioceptive Contact Localization for Landing on Slanted Roofs
A dual-arm aerial manipulator with a 360-degree workspace uses a momentum-based torque observer to detect physical contact during landing on slanted surfaces. This allows the robot to infer surface inclination blindly through interaction before touchdown. Experimental results show an average error of 2.87 degrees, enabling reliable landings on slopes up to 30.5 degrees.