Development of Vision Stabilizing System for a Large-Scale Flapping-Wing Robotic Bird

Pan, Erzhen; Xu, Liang; Xu, Wenfu

doi:10.1109/jsen.2020.2981173

Cited by 32 publications

(11 citation statements)

References 21 publications

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“…One of the first approaches to robotic visual perception for ornithopters was ROSS-LAN, a simulation scheme to obtain synthetic data of a number of sensors during landing and perching maneuvers [11]. The work in [12] developed a vision stabilizing system to address the pitch and roll fluctuations during each flapping period. The required payload for installing the hardware for their proposed vision system was <100 g, which could be carried within the 150 g payload of their robot.…”

Section: Related Workmentioning

confidence: 99%

Why fly blind? Event-based visual guidance for ornithopter robot flight

Eguíluz

Tapia

Maldonado

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The development of perception and control methods that allow bird-scale flapping-wing robots (a.k.a. ornithopters) to perform autonomously is an under-researched area. This paper presents a fully onboard event-based method for ornithopter robot visual guidance. The method uses event cameras to exploit their fast response and robustness against motion blur in order to feed the ornithopter control loop at high rates (100 Hz). The proposed scheme visually guides the robot using line features extracted in the event image plane and controls the flight by actuating over the horizontal and vertical tail deflections. It has been validated on board a real ornithopter robot with real-time computation in lowcost hardware. The experimental evaluation includes sets of experiments with different maneuvers indoors and outdoors.

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Section: Related Workmentioning

confidence: 99%

Why fly blind? Event-based visual guidance for ornithopter robot flight

Eguíluz

Tapia

Maldonado

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Flapping-wing robots entail specific perception challenges and require perception systems and techniques that consider the effects of generating lift and thrust through wing flapping. One of the first approaches to cope with the challenges of ornithopter perception has been presented in [16]. The authors propose a vision-based stabilizing system to address the pitch and roll fluctuations during each flapping period.…”

Section: Related Workmentioning

confidence: 99%

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

Tapia

Paneque

Grau

et al. 2021

IEEE Robot. Autom. Lett.

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The development of automatic perception systems and techniques for bio-inspired flapping-wing robots is severely hampered by the high technical complexity of these platforms and the installation of onboard sensors and electronics. Besides, flapping-wing robot perception suffers from high vibration levels and abrupt movements during flight, which cause motion blur and strong changes in lighting conditions. This paper presents a perception dataset for bird-scale flappingwing robots as a tool to help alleviate the aforementioned problems. The presented data include measurements from onboard sensors widely used in aerial robotics and suitable to deal with the perception challenges of flapping-wing robots, such as an event camera, a conventional camera, and two Inertial Measurement Units (IMUs), as well as ground truth measurements from a laser tracker or a motion capture system. A total of 21 datasets of different types of flights were collected in three different scenarios (one indoor and two outdoor). To the best of the authors' knowledge this is the first dataset for flapping-wing robot perception.

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“…The flapping-wing flying robot (FWFR) is a challenging platform in aerial robotics [13][14][15][16][17][18][19][20]. Mou et al presented active disturbance rejection for a flapping wing system subjected to internal and external disturbance [21].…”

Section: Introductionmentioning

confidence: 99%

“…A flapping-wing mechanism exerts periodic oscillatory lift force which is produced by wings. The actuation could be generated by direct current (DC) or brushless motors plus a crank-and-gear mechanism [14,18,19]; it could be produced by servo motors [22], clap-and-fling mechanism [23], or by elastic actuation based on an inverted-cam mechanical mechanism [24]. Regardless of actuation type, the periodic transferred base-excitation force should be controlled [25].…”

Section: Introductionmentioning

confidence: 99%

Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio

Nekoo

Ollero

2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper presents an equivalent dynamic model for vertical regulation control of a flapping-wing flying robot. The model is presented based on the data of a series of flight experiments for an available platform. The system shows oscillations in motion in all experiments with an approximate frequency between [𝟑. 𝟓, 𝟒. 𝟓](𝐇𝐳), changing within a limited range. The behavior of the equivalent model represents a system with base excitation. The displacement transmissibility ratio (TR) is found for the model to investigate the oscillatory behavior in the system during the flight. Reduction of the oscillations through the transmissibility ratio will decrease the uncertainty in flight and consequently, that could increase the success rate of perching on a branch (now it has a 𝟏𝟎 − 𝟏𝟓(𝐜𝐦) uncertain periodic motion); perching needs precision on the last meter approaching phase. An analytical expression for TR is presented which is used for parameter selection, tuning, and selection of the flapping frequency, as the base excitation source.The study shows that the robot works in a proper zone of the frequency ratio, and also, the sensitivity of the TR is high concerning the changes in the stiffness constant.

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Development of Vision Stabilizing System for a Large-Scale Flapping-Wing Robotic Bird

Cited by 32 publications

References 21 publications

Why fly blind? Event-based visual guidance for ornithopter robot flight

Why fly blind? Event-based visual guidance for ornithopter robot flight

The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception

Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio

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