Servo-Visual Control for the Aerial Grasping of Moving Targets by an<b>Aerial Manipulator </b>Exp1

<p dir="ltr">Supplementary material:</p><p dir="ltr"><b>Abstract: </b><i>A visual servo control scheme is proposed for aerial grasping of static and dynamic targets using aerial manipulators. The architecture includes two cascaded controllers: (i) a bio-inspired visual servo controller, based on the eagle’s grasping strategy, implemented under an “Aerial-Eye-to-Hand” vision configuration and structured in four autonomous stages; and (ii) a dynamic controller that manages the coupled motion of the aerial platform and the manipulator. The approach leverages system redundancy to maintain the target within the UAV’s field of view while enabling coordinated grasping maneuvers.</i></p><p dir="ltr"><br></p><p dir="ltr"><b>Experiment with the four stages of aerial grasping: the robot successfully grasps the target and immediately completes the positioning task.</b></p>