Micro Unmanned Aerial Vehicles (MAVs) have been used in a wide range of applications. However, there are few papers addressing high-speed grasping and transportation of pay-loads using MAVs. Drawing inspiration from aerial hunting by birds of prey, we design and equip a quadrotor MAV with an actuated appendage enabling grasping and object retrieval at high speeds. We develop a nonlinear dynamic model of the system, demonstrate that the system is differentially flat, plan dynamic trajectories using the flatness property, and present experimental results with pick-up velocities at 2 m/s (6 body lengths / second) and 3m/s (9 body lengths/second). Finally, the experimental results are compared with observations derived from video footage of a bald eagle swooping down and snatching a fish out of water.
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机译：微型无人机（MAV）已被广泛应用。但是，很少有论文涉及使用MAV的高速掌握和有效载荷的运输。我们从猛禽的空中狩猎中汲取了灵感，我们为四旋翼飞行器设计并配备了一个可动附件，从而可以高速抓取和抓取物体。我们开发了系统的非线性动力学模型，证明了该系统是差分平坦的，利用平坦度特性规划了动态轨迹，并以2 m / s（6体长/秒）和3m / s的拾取速度给出了实验结果。 s（9体长/秒）。最后，将实验结果与从白头鹰俯冲并从水中抓鱼的录像中获得的观察结果进行比较。
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