Fig. 4: Hand-like grasping.
From: Hand-like autonomous flying robot for airborne grasping and interaction
a HI-ARM palm grasps, transports, and releases a water bottle (image mirrored horizontally for better readability). b State curves of HI-ARM during the water bottle grasping process, including position tracking, velocity tracking, estimated external forces, estimated external torques, motor speed, and actual total thrust. c Adaptive grasping of objects with various shapes by HI-ARM. d A sequence of HI-ARM performing fingertip grasping on a napkin. e Fingertip grasping of items with various shapes.
