  Inspired by the behavior of birds, we present AirCrab, a hybrid aerial ground
manipulator (HAGM) with a single active wheel and a 3-degree of freedom (3-DoF)
manipulator. AirCrab leverages a single point of contact with the ground to
reduce position drift and improve manipulation accuracy. The single active
wheel enables locomotion on narrow surfaces without adding significant weight
to the robot. To realize accurate attitude maintenance using propellers on the
ground, we design a control allocation method for AirCrab that prioritizes
attitude control and dynamically adjusts the thrust input to reduce energy
consumption. Experiments verify the effectiveness of the proposed control
method and the gain in manipulation accuracy with ground contact. A series of
operations to complete the letters 'NTU' demonstrates the capability of the
robot to perform challenging hybrid aerial-ground manipulation missions.
