Torch relay is an important tradition of the Olympics and heralds the start of the Games. Robots applied in the torch relay activity can not only demonstrate the technological capability of humans to the world but also provide a sight of human lives with robots in the future. This article presents an aerial manipulator designed for the robot-to-robot torch relay task of the Beijing 2022 Winter Olympics. This aerial manipulator system is composed of a quadrotor, a 3 DoF (Degree of Freedom) manipulator, and a monocular camera. This article primarily describes the system design and system control scheme of the aerial manipulator. The experimental results demonstrate that it can complete robot-to-robot torch relay task under the guidance of vision in the ice and snow field.

翻译：火炬传递是奥运会的重要传统，也标志着赛事的启幕。将机器人应用于火炬传递活动，既能向世界展示人类的技术能力，也能呈现未来人类与机器人共存的景象。本文介绍了一种专为北京2022年冬奥会机器人间火炬传递任务设计的空中机械臂系统。该系统由四旋翼飞行器、三自由度机械臂及单目相机组成。本文重点阐述了该空中机械臂的系统设计与系统控制方案。实验结果表明，该系统能够在冰雪场地中基于视觉引导完成机器人间的火炬传递任务。