A flying robot with adaptive morphology for multi-modal locomotion

Daler, Ludovic; Lecoeur, Julien; Hahlen, Patrizia Bernadette; Floreano, Dario

doi:10.1109/iros.2013.6696526

Cited by 40 publications

(29 citation statements)

References 11 publications

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“…The simplest case of landing and locomotion is interacting with flat, horizontal ground. In these cases, robots have used wheels [126,127], cylindrical or spherical exoskeletons [17,[128][129][130], or leg-like mechanisms [131][132][133][134][135][136][137][138] for locomotion. However, for the highly irregular or steep surfaces abundant on the Earth, new techniques have had to be developed.…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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“…Other robots use variations on crawling, such as the MMALV which uses powered wheel-legs [3], or one that converts downward thrust into forward motion [4]. The DALER crawls by rotating its wings [5], and the BOLT and the DASH+WINGS use synchronized legs and flapping wings [6], [7]. Still others use motorized wheels [8], or roll on exoskeletons which leverage the propulsion mechanism of the aerial platform [1], [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Dynamic underactuated flying-walking (DUCK) robot

Pratt

Leang

2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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This paper describes the development of a flying and walking robot, called the dynamic underactuated flyingwalking (DUCK) robot. The DUCK robot combines a highmobility flying platform, such as a quadcopter (quadrotor helicopter), with passive-dynamic legs to create a versatile system that can fly and walk. One of the advantages of passivedynamic legs for walking is that additional actuators are not needed for terrestrial locomotion. Herein, a mathematical model is presented and simulations are used to help design a prototype robot. Experimental results demonstrate the feasibility of combining an aerial platform with passive-dynamic legs to create an effective flying and walking robot. In particular, two modes of walking are demonstrated: (1) passive walking down inclined surfaces for low-energy terrestrial locomotion, and (2) active (powered) walking by leveraging the capabilities of the flying platform, where thrust from the quadcopter's rotors enables the DUCK robot to take steps and walk on flat surfaces or up inclined surfaces.

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“…A cylindrical quadcopter-based aerial-terrestrial robot that is capable of both efficient ground and aerial locomotion was recently developed [7]. Additionally, a fixed-wing aerial robot was recently developed that can move on the ground using its wings [8].…”

Section: Introductionmentioning

confidence: 99%

A micro spherical rolling and flying robot

Dudley

Woods

Leang

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents the design, fabrication, modeling, and demonstration of a micro spherical rolling and flying robot, with a total mass and payload of 35 g and 10 g, respectively. The micro aerial terrestrial robot (ATR) has the ability to fly through the air or roll on the ground, for applications that include search and rescue, mapping, and surveillance. Its unique size makes is easily portable and enables the robot to enter and maneuver around in tight spaces such as air ducts. The design centers around a micro-quadcopter encased in a lightweight spherical exoskeleton that can rotate about the quadcopter. The spherical exoskeleton offers agile ground locomotion while maintaining characteristics of a basic aerial robot in flying mode. Details of the system modeling, design and fabrication are discussed, including the robot's turning capabilities over ground and the lightweight spring-steel exoskeleton. The prototype ATR is experimentally validated in aerial and terrestrial mode, and results show that the ATR traveling over the same distance in rolling mode is 260 percent more efficient than a traditional flying-only robot and in flying mode the system is only 39 percent less efficient. Experimental results also demonstrate transition between modes of locomotion and curved, rolling trajectories. † K. K. Leang (Corresponding author) is with the Design, Automation, Robotics, and Control (DARC) Lab,

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A flying robot with adaptive morphology for multi-modal locomotion

Cited by 40 publications

References 11 publications

Touchdown to take-off: at the interface of flight and surface locomotion

Touchdown to take-off: at the interface of flight and surface locomotion

Dynamic underactuated flying-walking (DUCK) robot

A micro spherical rolling and flying robot

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