Here is an articulated aerial robot that can take on aerial manipulation and grasping tasks. Dragon uses a vectorable rotor unit in each link. It has a unique grasping style with vectorable thrust force used as the internal wrench. As you can see in the below video, this flying robot can detect contact with an object, tilts its rotors inwardly to grab it, and compensates for object mass.
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Versatile Articulated Aerial Robot DRAGON: Aerial Manipulation and Grasping by Vectorable Thrust
The above video shows this unique robot in action. Moju Zhao, Kei Okada, and Masayuki Inaba are behind this drone.
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