@conference {2019f-SarKimBicTseOttFraKon, title = {Development of SAM: cable-Suspended Aerial Manipulator}, booktitle = {2019 IEEE Int. Conf. on Robotics and Automation}, year = {2019}, month = {05/2019}, address = {Montreal, Canada}, abstract = { High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this paper. Instead of attaching a robotic manipulator directly to an aerial carrier, it is mounted on an active platform which is suspended on the carrier by means of a cable. As a result, higher safety can be achieved because the aerial carrier can keep a distance from the obstacles. For self-stabilization, the SAM is equipped with two actuation systems: winches and propulsion units. This paper presents an overview of the SAM including the concept behind, hardware realization, control strategy, and the first experimental results.}, attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2019f-SarKimBicTseOttFraKon-preprint.pdf}, author = {Yuri Sarkisov and Min J. Kim and Davide Bicego and D. Tsetserukou and Christian Ott and Antonio Franchi and Konstantin Kondak} }