2020
DOI: 10.3390/app10186516
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A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control

Abstract: Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximit… Show more

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Cited by 16 publications
(9 citation statements)
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“…First, correct the posture once the system is perched to obtain a stable configuration where, with almost zero friction, the claw can re-open slowly. This would leverage the previous work addressing balancing challenges 31 , 39 . Then, the leg actuation should be improved to execute a jump forward, and with maximum flapping thrust.…”
Section: Discussionmentioning
confidence: 99%
“…First, correct the posture once the system is perched to obtain a stable configuration where, with almost zero friction, the claw can re-open slowly. This would leverage the previous work addressing balancing challenges 31 , 39 . Then, the leg actuation should be improved to execute a jump forward, and with maximum flapping thrust.…”
Section: Discussionmentioning
confidence: 99%
“…Several strategies are envisioned. First, achieving the desired posture once the system is perched to facilitate the take-off maneuver (using proposed controllers in (28,34). Then, the leg actuation should be improved to execute a jump forward, synchronized with claw re-opening.…”
Section: Discussionmentioning
confidence: 99%
“…[8]. Stabilization after perching was also covered for this particular concept in literature [9, 10]. A special case is the motion of the flapping-wing robot in a branch after perching that needs modification of the body of the robot for gaining a better position and also manipulation after that [11].…”
Section: Introductionmentioning
confidence: 99%