Hovering of MAV by using magnetic adhesion and winch mechanisms

Yanagimura, Kazuaki; Ohno, Kazunori; Okada, Yoshito; Takeuchi, Eijiro; Tadokoro, Satoshı

doi:10.1109/icra.2014.6907781

Cited by 28 publications

(11 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This aerodynamic contact mechanism can also be used to regain contact upon slipping [41]. In addition, magnets offer reliable attachment, but only on magnetic surfaces [146,160,161]. Glue, such as rat trap glue, has been demonstrated as a reliable adhesive on a wide range of surfaces, but does not offer reliable detachment (figure 3m) [147].…”

Section: Rsfsroyalsocietypublishingorg Interface Focus 7: 20160094mentioning

confidence: 99%

“…The robots that perform these manoeuvres can typically hover or have a specialized suspension system to mitigate impact. Rotor-based vehicles are particularly well suited for vertical approaches, as they can vertically descend to land on cylinders (figure 3e) [55,58,[165][166][167] or ascend to ceilings (figure 3f-h) [50,53,145,146]. In this configuration, robots must sustain a small pitch-back moment.…”

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

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: Rsfsroyalsocietypublishingorg Interface Focus 7: 20160094mentioning

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.

View full text Add to dashboard Cite

show abstract

“…Several mechanisms for perching on vertical walls based on microspines [10][11][12], dry adhesive [13][14][15] or magnetic force [16] were developed. Some of the solutions can also be used to attach to horizontal structures, such as concrete ceilings [17,18]. With respect to irregular and round objects, cage grasp solutions have been developed.…”

Section: Spine Drone With Cagementioning

confidence: 99%

HEDGEHOG: Drone Perching on Tree Branches With High-Friction Origami Spines

Kirchgeorg

Mintchev

2022

IEEE Robot. Autom. Lett.

View full text Add to dashboard Cite

The collection of environmental and biodiversity data is essential to manage, preserve and restore forests, but this task remains challenging due to the inaccessibility of these ecosystems. Compared to human intervention, aerial robots can access tree canopies, but their limited flight time and noise continue to stall widespread application. To address this challenge, we present a perching mechanism which allows small drones to rest on overhanging branches and extend their mission while remaining silent. We developed an origami spine with two folding flaps containing a layer of high-friction material. When the spine engages with a branch, the flaps open and conform to irregular branch surfaces generating sufficient friction to support the weight of a drone. With HEDGEHOG, a drone integrating multiple spines on a protective cage, we demonstrated its application in a controlled indoor as well as in a forest environment. We modelled the perching strategy and measured the effects of materials and geometric parameters on the drone's perching performance. By leveraging interactions with nature, our drone can perch on tree branches with diameters up to 86 mm and inclined up to ±15 • and potentially remain in the canopy for extended periods of time to acquire data or monitor returning wildlife.

show abstract

“…Additionally, in these studies, the tool is attached below the UAV, which may not be suitable for the ceiling-like structures. One of the initial implementations considering ceiling contact is [39], where the system locks itself to the ceiling. In this implementation, the discussion on the contact forces and the inspection are not presented.…”

Section: Literature Reviewmentioning

confidence: 99%