Embedded line scan image sensors: The low cost alternative for high speed imaging

Wolputte, Stef Van; Abbeloos, Wim; Helsen, Stijn; Bey-Temsamani, Abdellatif; Goedemé, Toon

doi:10.1109/ipta.2015.7367207

Cited by 4 publications

(2 citation statements)

References 2 publications

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“…3D. This class of sensors relies on a single-row pixel array which enables contrast-based detection 32 . Future outdoor perching maneuvers in cluttered environments will benefit from improved sensing methods, e.g.…”

Section: Active Legmentioning

confidence: 99%

How ornithopters can perch autonomously on a branch

et al. 2022

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Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight. In this paper, we present a process to autonomously land an ornithopter on a branch. This method describes the joint operation of a pitch-yaw-altitude flapping flight controller, an optical close-range correction system and a bistable claw appendage design that can grasp a branch within 25 milliseconds and re-open. We validate this method with a 700 g robot and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.

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Section: Active Legmentioning

confidence: 99%

How ornithopters can perch autonomously on a branch

et al. 2022

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“…3-D. This class of sensors relies on a single-row pixel array which enables contrast-based detection (29). Future outdoor perching maneuvers in cluttered environments will benefit from improved sensing methods, e.g.…”

Section: Leg Control and Branch Detectionmentioning

confidence: 99%

How ornithopters can perch autonomously on a branch

Zufferey

Barbero

Talegón

et al. 2022

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Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading to quiet and efficient motion. The advantages of this technology are safety and maneuverability, and physical interaction with the environment, humans, and animals. However, to enable substantial applications, these robots must perch and land. Despite recent progress in the perching field, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight on a branch. In this paper, we present a novel method that defines a process to reliably and autonomously land an ornithopter on a branch. This method describes the joint operation of a flapping-flight controller, a close-range correction system and a passive claw appendage. Flight is handled by a triple pitch-yaw-altitude controller and integrated body electronics, permitting perching at 3 m/s. The close-range correction system, with fast optical branch sensing compensates for position misalignment when landing. This is complemented by a passive bistable claw design can lock and hold 2 Nm of torque, grasp within and can re-open thanks to an integrated tendon actuation. The perching method is supplemented by a four-step experimental development process which optimizes for a successful design. We validate this method with a 700 g ornithopter and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.

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