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Rigid grippers used in existing aerial manipulators require precisepositioning to achieve successful grasps and transmit large contact forces thatmay destabilize the drone. This limits the speed during grasping and prevents"dynamic grasping", where the drone attempts to grasp an object while moving.On the other hand, biological systems (e.g., birds) rely on compliant and softparts to dampen contact forces and compensate for grasping inaccuracy, enablingimpressive feats. This paper presents the first prototype of a soft drone -- aquadrotor where traditional (i.e., rigid) landing gears are replaced with asoft tendon-actuated gripper to enable aggressive grasping. We provide threekey contributions. First, we describe our soft drone prototype, includingelectro-mechanical design, software infrastructure, and fabrication. Second, wereview the set of algorithms we use for trajectory optimization and control ofthe drone and the soft gripper; the algorithms combine state-of-the-arttechniques for quadrotor control (i.e., an adaptive geometric controller) withadvanced soft robotics models (i.e., a quasi-static finite element model).Finally, we evaluate our soft drone in physics simulations (using SOFA andUnity) and in real tests in a motion-capture room. Our drone is able todynamically grasp objects of unknown shape where baseline approaches fail. Ourphysical prototype ensures consistent performance, achieving 91.7% successfulgrasps across 23 trials. We showcase dynamic grasping results in the videoattachment.  Video Attachment: https://youtu.be/mqbj8mEyCdk

Dynamic Grasping with a "Soft" Drone: From Theory to Practice