Design of a Multimodal Climbing and Gliding Robotic Platform

Dickson, James D.; Clark, Jonathan E.

doi:10.1109/tmech.2012.2223708

Cited by 42 publications

(29 citation statements)

References 23 publications

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“…Surface attachment solutions include grasping, claws, adhesive pads and suction [18,[41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59]. Some prototypes have begun to navigate surfaces with these techniques [41,44,[139][140][141]. Take-off typically depends on the landing approach.…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

“…Despite these constraints, present detachment mechanisms and rotor propulsion systems have proved to be quite successful for take-off from engineered surfaces. As a result, robots that pitch up to perch also pitch back to fly away (figure 3b) [18,51,52], while robots that make direct approaches also use direct take-offs (figure 3e-h) [47,54,139], and most aerial robots that perch in the inverted orientation pitch back into their stable flight configuration (figure 3o,p) [41].…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

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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%

Section: Landing and Take-off 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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“…Authors analyze the platform useful through a student survey data. More educational platform can see in [4], [5].…”

Section: Related Workmentioning

confidence: 99%

Versatile educational and research robotic platform based on reconfigurable hardware

Lara-Nino¹,

Torres-Huitzil²,

Barrón-Zambrano³

2014

2014 International Conference on ReConFigurable Computing and FPGAs (ReConFig14)

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This paper presents the development of a fieldprogrammable gate array (FPGA)-based platform. This platform is intended for the community as an educational and efficient prototyping tool, in digital signal processing, robotics, and control, but it can also be used as to develop custom robotic architectures. The proposed platform centered around an FPGA device is embedded on an off-the-shelf Phoenix hexapod robot. The platform is equipped with a camera module targeted to real time computer vision. From an academic point of view, the main use for the developed platform is to be employed as a didactic resource that facilitates the understanding of theoretical concepts commonly used in engineering courses and to speed up the development cycle in hands-on practice. A set of software tools and low-level drivers have been developed to configure the vision sensor, transfer images to/from a computer and to manage the testing of image and digital processing and control tasks in a transparent way. To validate the platform a hardware vision architecture and a locomotion control module have been created. The high level control is performed in a soft-processor that simulates the Arduino ONE micro controller. The soft-processor takes information from the vision sensor to generate controls signals for a generic module able to take a digital input and deliver a pulse-width modulation (PWM) output.

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“…With modifications, the inclusion of an additional mechanism could potentially enable terrestrial operations expanding the task-space of the vehicle to truly aerial/terrestrial operations. Taking this functionality one step further, a platform capable of climbing and gliding has been developed by [57] which is able to climb prepared vertical walls and complete gliding operations with performance characteristics similar to natural cases from which it drew inspiration.…”

Section: Aerial/terrestrialmentioning

confidence: 99%

Multi-modal locomotion: from animal to application

2013

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The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms.

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Design of a Multimodal Climbing and Gliding Robotic Platform

Cited by 42 publications

References 23 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

Versatile educational and research robotic platform based on reconfigurable hardware

Multi-modal locomotion: from animal to application

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