Development of a drone-type wall-sticking and climbing robot

Myeong, Wancheol; Jung, Kyong Yeun; Jung, Sungwook; Jung, Yeondeuk; Myung, Hyun

doi:10.1109/urai.2015.7358881

Cited by 30 publications

(12 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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%

“…By contrast, horizontal approach manoeuvres, for both fixed wings and rotor-based robots require the contact mechanism to hold while the robot is cantilevered, unless the robot aligns its structure near to the surface (figure 3i-m) [44,46-48, 54,59,147]. Some quadrotors align themselves with the surface by pivoting nose-down (figure 3o-q) [41,49,53,140,141] or dropping below (figure 3n) [58] into an inverted configuration. The extra thrust from the rotors in the nose-down configuration can facilitate engagement of the attachment mechanism.…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

“…Quadrotors that are aligned with the surface can also use their thrust to remain in contact, which also requires continuous power (figure 3q) [140]. This aerodynamic contact mechanism can also be used to regain contact upon slipping [41].…”

Section: Rsfsroyalsocietypublishingorg Interface Focus 7: 20160094mentioning

confidence: 99%

See 2 more Smart Citations

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

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

View full text Add to dashboard Cite

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.

show abstract

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

See 1 more Smart Citation

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

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

View full text Add to dashboard Cite

show abstract

“…Climbing robots are divided into wall climbing robots [6][7][8][9][10] and tree climbing robots [11][12][13][14]. Most of the current tree-climbing robots are mainly wheeled, clawed and biomimetic [15], among which the wheeled tree climbing robot [16][17][18][19][20][21] mostly uses the ways of encircling to realize the climbing function of the tree climbing robot.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Wang¹,

Huang²,

et al. 2020

Preprint

View full text Add to dashboard Cite

In this paper, a novel tree climbing robot mechanism was designed, based on the tree climbing movement and posture of the primates. The overall design and tree climbing gait of the tree climbing robot were analyzed in detail. According to the screw theory, the DOF of the leg of the tree climbing robot is calculated. The forward and inverse kinematics equations of the tree climbing robot were established and solved. The kinematics of the leg parallel mechanism was established, furthermore, the singularity of the leg mechanism was analyzed and three types of singularity were derived. The simplified diagrams and the corresponding model diagrams, at the singular points, were drawn. Finally, the movement is simulated and analyzed. And the changes of the leg joint angular and the foot-end displacement and the relationship between the driving displacement and angles of the tree climbing robot by numerical simulation is obtained at the same time. Prototype physical model of the tree climbing robot was made, which further verified the rationality and feasibility of the tree climbing robot mechanism studied in this paper.

show abstract

“…For the inspection of civil structures exposed to harsh environmental conditions such as strong winds, this approach allows an aerial robot to stably cling to the wall [5], [6]. When the drone fails to attach to the wall, this mechanism can help the drone re-attach to the wall by generating a pushing force [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Development of a Wall-Climbing Drone Capable of Vertical Soft Landing Using a Tilt-Rotor Mechanism

Myeong

Myung

2019

IEEE Access

View full text Add to dashboard Cite

Wall-climbing drones have many applications, including structural health monitoring of civil structures, such as bridges and high-rise buildings, cleaning of solar panels to improve power generation efficiency, and airplane visual inspections. For these applications, the drone requires a high-payload capacity, and consequently the size and weight of the drone increase. The drone also should not damage the target structures considering the purpose of its mission. Our previous versions of a wall-climbing drone could have high-impact force on the surface where the drone perches and on the platform itself because of the impact caused by a fast pose change and landing speed. In order to overcome this potential risk, a mechanism and a control algorithm for perching on a vertical surface through low-speed pose change are proposed in this paper. The drone platform is based on an X-configuration quadcopter, and a tilt-rotor mechanism is incorporated into the two axes, such that the front thrusters and the rear thrusters are paired. The vertical soft landing mechanism using the tilt-rotors is validated by the experimental tests of the prototype.

show abstract

Development of a drone-type wall-sticking and climbing robot

Cited by 30 publications

References 5 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

Design and Analysis of a Novel Tree Climbing Robot Mechanism

Development of a Wall-Climbing Drone Capable of Vertical Soft Landing Using a Tilt-Rotor Mechanism

Contact Info

Product

Resources

About