%0 Conference Proceedings %F C38 %A Spica, R. %A Franchi, A. %A Oriolo, G. %A H. Bülthoff, H. %A Robuffo Giordano, P. %T {Aerial Grasping of a Moving Target with a Quadrotor {UAV}} %B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2012 %P 4985-4992 %C Vilamoura, Portugal %X For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time. To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time. The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. The effectiveness of the proposed approach is shown by means of physically-based simulations %U http://rainbow-doc.irisa.fr/pdf/paolo/IROS12_0777_FI.pdf %8 October %D 2012