  Manipulation performance improvement is crucial for aerial robots. For aerial
manipulators, the baselink position and attitude errors directly affect the
precision at the end effector. To address this stability problem, fixed-body
approaches such as perching on the environment using the rotor suction force
are useful. Additionally, conventional arm-equipped multirotors, called
rotor-concentrated manipulators (RCMs), find it difficult to generate a large
wrench at the end effector due to joint torque limitations. Using distributed
rotors to each link, the thrust can support each link weight, decreasing the
arm joints' torque. Based on this approach, rotor-distributed manipulators
(RDMs) can increase feasible wrench and reachability of the end-effector. This
paper introduces a minimal configuration of a rotor-distributed manipulator
that can perch on surfaces, especially ceilings, using a part of their body.
First, we design a minimal rotor-distributed arm considering the flight and
end-effector performance. Second, a flight controller is proposed for this
minimal RDM along with a perching controller adaptable for various types of
aerial robots. Third, we propose a motion planning method based on inverse
kinematics (IK), considering specific constraints to the proposed RDMs such as
perching force. Finally, we evaluate flight and perching motions and
\revise{confirm} that the proposed manipulator can significantly improve the
manipulation performance.
