A Flying Gripper Based on Cuboid Modular Robots

We present a novel flying modular platform capable of grasping and transporting objects. It is composed of four cooperative identical modules where each is based on a quadrotor within a cuboid frame with a docking mechanism. Pair of modules are able to fly independently and physically connect by matching their vertical edges forming a hinge. Four one degree of freedom (DOF) connections results in a one DOF fourbar linkage that can be used to grasp external objects.