Drone with Pneumatic-tethered Suction-based Perching Mechanism for High Payload Application

Ang, Jim David D.; Librado, Lester G.; Salaan, Carl John; Maglasang, Jonathan; Sanchez, Kristine; Ang, Marcelo H.

doi:10.1109/iros47612.2022.9982219

Cited by 4 publications

(2 citation statements)

References 15 publications

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“…Unlike traditional attachment strategies relying on electrostatic adhesion (21,22) (requiring an extra high-voltage power source and only suitable for extremely light robots), vacuum cups (15,16,34) (requiring an air pump or difficult to detach), and magnets (35,36) (only work on magnetic objects and hard to detach), the proposed untethered electrically active smart adhesives assist the robot in achieving reliable adhesion on various dry/wet surfaces without the assistance of additional equipment. Furthermore, the smart adhesive can achieve sky-high switchable adhesion ratio (∞) [higher than previous studies; (37)(38)(39)(40)(41)(42)(43)(44)(45)(46)(47)], simplify actuation control due to the superior controllable and flexible deformation ability of artificial muscles, enable robot's autonomy by using excellent self-sensing function (movie S9III), and substitute traditional rigid structure and motor to light weight.…”

Section: Discussionmentioning

confidence: 99%

“…Numerous existing aerial robots (especially with the weight on the magnitude of kilograms)-mimicking the "wrapping" (6), "grasping" (7)(8)(9)(10)(11)(12), and "hooking" (13) behaviors of flying creatures or attachment style (14)(15)(16)(17) of gecko and octopus-perched on arborization structures, surfaces of buildings, or other specific surfaces. However, the abovementioned approaches generally based on complicated rigid design theory (e.g., using mechanisms, motor/ pump, and grasping and locking devices), while promising on static/quasi-static perching surfaces, still seriously haunt UAVs' reversible perching on moving targets due to numerous inherent shortcomings.…”

Section: Introductionmentioning

confidence: 99%

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Electrically active smart adhesive for a perching-and-takeoff robot

Liu,

Tian,

Wang

et al. 2023

Sci. Adv.

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Perching-and-takeoff robot can effectively economize onboard power and achieve long endurance. However, dynamic perching on moving targets for a perching-and-takeoff robot is still challenging due to less autonomy to dynamically land, tremendous impact during landing, and weak contact adaptability to perching surfaces. Here, a self-sensing, impact-resistant, and contact-adaptable perching-and-takeoff robot based on all-in-one electrically active smart adhesives is proposed to reversibly perch on moving/static dry/wet surfaces and economize onboard energy. Thereinto, attachment structures with discrete pillars have contact adaptability on different dry/wet surfaces, stable adhesion, and anti-rebound; sandwich-like artificial muscles lower weight, enhance damping, simplify control, and achieve fast adhesion switching (on-off ratio approaching ∞ in several seconds); and the flexible pressure (0.204% per kilopascal)–and–deformation (force resolution, <2.5 millinewton) sensor enables the robot’s autonomy. Thus, the perching-and-takeoff robot equipped with electrically active smart adhesives exhibits tremendous advantages of soft materials over their rigid counterparts and promising application prospect of dynamic perching on moving targets.

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