From ancient times, humans have been using cables and ropes to carry, tie, and manipulate physical objects. Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. We propose a versatile robot called “Catenary Robot.” Our robot is able to navigate in the environment to get attached to objects with a hook-like shape or Drag/Rotate objects. Further, this new platform allows aerial robots to perform non-apprehensive object manipulation and perform actions such as push, drag, and roll.