Here is a modular flying robot with a gripper capable of grasping and transporting objects. Cuboids were connected by their vertical edges to form a 1 DOF gripper. The aperture angle can be controlled, so you can use something like this to pick up a cup or similar objects.
To build this, researchers used 4 cooperative modules based on a quadrotor within a cuboid frame. As you can see in the above video, these flying modules are quite agile. Pretty neat if you ask us.