Dexterous Hexrotor is a six degree of freedom, truly holonomic aerial rotorcraft that provides force closure for controlled interaction with external structures. It is designed for aerial mobile manipulation tasks which is a burgeoning area of study in robotics.

Dexterous Hexrotor is equipped with six nonparallel thrusters. Each thruster is rotated a Cant angle around the radius of the frame and the six thrusters are arranged in three planes. So in-plane components of thruster vectors and six independent controlled degrees of freedom in force/torque space result while still maintaining a symmetric basis of vectors.

With a lightweight Stewart-Gough platform hosted by Dexterous Hexrotor, a macro/micro aerial mobile manipulation system is developed to investigate how much a fully actuated platform can improve the precision of position keeping and reduce the complexity of attitude control while performing manipulation tasks.