Nanyang Technological University researchers report that DuctAM, a quadcopter with two horizontal ducted fans, pushed a cart carrying 3.87 kilograms about two metres on a foam mat. Their September 14 preprint demonstrates forceful contact while flying nearly level.
Conventional quadcopters tilt to push horizontally, which can disrupt contact with an object. DuctAM adds fans enclosed in circular ducts to supply forward or backward thrust while its four main rotors provide lift.
The controller combines external motion-capture measurements with onboard motion sensors, compares position with the commanded path, and divides acceleration between the fans and lifting rotors.
In the cart test, contact lasted 6.2 seconds and tilt stayed near one degree. With the horizontal fans disabled, the platform failed to move the cart and became unstable. Reversing fan thrust also opened a drawer through a rope.
These demonstrations support separating lifting and pushing forces for aerial manipulation. The paper does not establish repeatable task success rates or operating endurance. Tests used external motion capture; operation without that laboratory infrastructure still needs verification.