Aerial Manipulation
Interaction Beyond Flight
Aerial manipulation expands the role of flying robots beyond perception and motion into physical interaction. The Crazyflie®’s lightweight, modular architecture makes it ideal for exploring the control challenges and dynamics of contact-based operations and grasping in the air.
Researchers use the Crazyflie® for developing novel actuation mechanisms, adaptive control strategies, and cooperative manipulation techniques. Its open-source firmware and precise localization systems allow detailed evaluation of control responses during interaction.
Research Opportunities
With Crazyflie, researchers can implement and evaluate:
- Grasping and object transport using micro-manipulators.
- Force control and compliant interaction.
- Collaborative manipulation with multi-drone systems.
- Hybrid flight–contact modeling and control.
- Aerial reconfiguration and task adaptation.
- Physical interaction with structures and environments.
Research in Action
Aerial manipulation extends robotics beyond flight alone, combining mobility with physical interaction. Projects using Crazyflie have demonstrated payload delivery, surface interaction, and force-controlled contact using lightweight grippers and extension decks.
Efficient Optimization-Based Cable Force Allocation for Geometric Control of a Multirotor Team Transporting a Payload
TU Berlin
Kinodynamic Motion Planning for a Team of Multirotors Transporting a Cable-Suspended Payload in Cluttered Environments
TU Berlin
ModQuad: The Flying Modular Structure that Self-Assembles in Midair
University of Pennsylvania
A Flying Gripper Based on Cuboid Modular Robots
University of Pennsylvania
Compliant Bistable Gripper for Aerial Perching and Grasping
Colorado State University
Reference Setup
Every project has unique requirements, but many share common building blocks. The configurations below provide practical starting points for aerial manipulation research, combining flight platforms, localization systems, and expansion capabilities commonly used in grasping, payload transport, and physical interaction experiments.
With the Lighthouse explorer bundle you'll get everything you need to try out the Lighthouse positioning system.
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With the Lighthouse swarm bundle, you will get your very own swarm of Crazyflie Brushless.
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The "Happy hacker bundle" has everything you need to get started with software, firmware and hardware development.
Shop BundleRelated Resources
Aerial manipulation research is shaping new frontiers of autonomy and dexterity. Crazyflie provides a reproducible, open, and accessible foundation for these studies.