Adaptive Aerial Grasping and Perching With Dual Elasticity Combined Suction Cup

Liu, Sensen; Dong, Wei; Ma, Zhao; Sheng, Xinjun

doi:10.1109/lra.2020.3003879

Cited by 36 publications

(20 citation statements)

References 34 publications

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“…In our previous work [35], we formulate the relationship between F n and the gap δ. Herein, we directly give the result as (1):…”

Section: A Self-sealing Suction Cupmentioning

confidence: 99%

“…Once a feasible time is found, a dichotomizing search is adopted to find a minimum feasible Time T in the region (T l , T r ) (Line 19-29). For the situation where no feasible time is found, T is determined by subtracting an interval from T last and the interval is the time from now to T e (Line [34][35]. This supplement scheme is necessary to ensure the terminal states are updated in time.…”

Section: B Minimum Time Searchmentioning

confidence: 99%

“…To address first problem, we devise a compliant gripper using self-sealing suction cups which build upon our previous work [35] to accommodate large attitude errors and tangential velocity. The cups are integrated into a passive wheel in multiple directions and thus larger attitude errors can be adapted.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

Liu¹,

Wang²,

Wang³

et al. 2022

Preprint

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“…In our previous work [35], we formulate the relationship between F n and the gap δ. Herein, we directly give the result as (1):…”

Section: A Self-sealing Suction Cupmentioning

confidence: 99%

Section: B Minimum Time Searchmentioning

confidence: 99%

See 1 more Smart Citation

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

Liu¹,

Wang²,

Wang³

et al. 2022

Preprint

Self Cite

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show abstract

“…Work from this challenge has been mention in the following section. [Fiaz et al, 2017, Fiaz et al, 2018, Gawel et al, 2017, Sutera et al, 2020, Bahnemann et al, 2017, Spurný et al, 2019 Medium Low High Vacuum [Kessens et al, 2019, Liu et al, 2020, Kessens et al, 2016, Tsukagoshi et al, 2015 Medium Medium High Tendon [Hingston et al, 2020, Gomez-Tamm et al, 2020, Fishman et al, 2021, Garcia Rubiales et al, 2021, McLaren et al, 2019, Pounds et al, 2011, Backus et al, 2014, Kruse and Bradley, 2018, Popek et al, 2018 Medium Medium Medium…”

Section: Aerial Graspingmentioning

confidence: 99%

“…Suction cups have been used to generate pressure differences between the outside atmosphere and the low-pressure cavity on the inside of the cup. Researchers have used this to enable stabilisation on featureless surfaces to save power compared to hovering [Kessens et al, 2019, Liu et al, 2020, Tsukagoshi et al, 2015.…”

Section: Vacuummentioning

confidence: 99%

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

Saunders

Saeedi

2021

Preprint

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Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore, improved control schemes and vehicle dynamics are better able to model the payload and improved perception algorithms to detect key features within the unmanned aerial vehicle's (UAV) environment. In this survey, a systematic review of the technological advancements and open research problems of autonomous aerial delivery vehicles is conducted. First, various types of manipulators and grippers are discussed in detail, along with dynamic modelling and control methods. Then, landing on static and dynamic platforms is discussed. Subsequently, risks such as weather conditions, state estimation and collision avoidance to ensure safe transit is considered. Finally, delivery UAV routing is investigated which categorises the topic into two areas: drone operations and drone-truck collaborative operations.

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An Aerial–Aquatic Hitchhiking Robot with Remora‐Inspired Tactile Sensors and Thrust Vectoring Units

Li,

Liu,

Tian

et al. 2023

Advanced Intelligent Systems

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Hybrid aerial–aquatic robots can operate in both air and water and cross between these two. They can be applied to amphibious observation, maritime search and rescue, and cross‐domain environmental monitoring. Herein, an aerial–aquatic hitchhiking robot is proposed that can fly, swim, and rapidly cross the air–water boundaries (0.16 s) and autonomously attach to surfaces in both air and water. Inspired by the mechanoreceptors of the remora (Echeneis naucrates) disc, the robot's hitchhiking device is equipped with two flexible bioinspired tactile sensors (FBTS) based on a triboelectric nanogenerator for tactile sensing of attachment status. Based on tactile sensing, the robot can perform reattachment after leakage or adhesion failure, enabling it to achieve long‐term adhesion on complex surfaces. The rotor‐based aerial–aquatic robot, which has two thrust vectoring units for underwater locomotion, can maneuver to pitch, yaw, and roll 360° and control precision motion position. The field tests show that the robot can continuously cross the air–water boundary, attach to the rough stone surface, and record video in both air and underwater. This study may shed light on future autonomous robots capable of intelligent navigation, adhesion, and operation in complex aerial–aquatic environments.

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Adaptive Aerial Grasping and Perching With Dual Elasticity Combined Suction Cup

Cited by 36 publications

References 34 publications

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper

Autonomous Aerial Delivery Vehicles, a Survey of Techniques on how Aerial Package Delivery is Achieved

An Aerial–Aquatic Hitchhiking Robot with Remora‐Inspired Tactile Sensors and Thrust Vectoring Units

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