This paper presents a tiltable cable-suspended aerial manipulation (SAM) system designed to improve the utility of aerial manipulators in industrial settings. Although drone-robot arm systems have shown promise, suspended configurations encounter notable stability challenges, particularly during inclined operations. To tackle these challenges, we performed simulation-based analyses focusing on the system's kinematics, dynamic response, and thrust requirements under tilted conditions. We utilized Monte Carlo sampling and forward kinematics to assess the workspace and manipulability. The findings indicated that each propeller needs to generate over 32 N of thrust to maintain stable control. Additionally, simulation experiments showed that the system can uphold its attitude and execute end-effector motions effectively, even in the presence of disturbances. This study establishes a foundational verification step toward developing a physical SAM system capable of safe and robust operation in inclined scenarios.

This paper introduces PongBot, a quadruped robot developed for preparation in the Dronebot Challenge held in Jangseonggun, Jeollanam-Do, South Korea in November 2020. The Dronebot Challenge, hosted by the Army Headquarters, is a competition to demonstrate that drones and robots can be useful for military purposes. In 2020, this competition consisted of a total of 8 events and we participated in the ‘Traveling on rough terrain’ event, which consisted of various terrains, such as, slopes, unpaved roads, and streams. PongBot is a quadruped robot that uses an electric motor and can walk for more than an hour on various terrains. Also, according to the rules of the competition, the robot had a system which could be remotely controlled from a ground control station. In addition, by applying the SLAM algorithm, the robot operator received information about its surrounding environment, thereby deriving records to facilitate the operation. The performance of this robot system and SLAM algorithm was verified through this competition.