Impedance control of a bio-inspired flying and adhesion robot

Liu, Yong; Sun, Guoxin; Chen, Heping

doi:10.1109/icra.2014.6907373

Cited by 17 publications

(10 citation statements)

References 18 publications

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“…These attributes make these adhesives appropriate for vertical and steeply inclined surfaces (figure 3c,k,l) [42][43][44][45][46][47]. Suction cups forming seals have been demonstrated to work for smooth, non-porous surfaces (figure 3g,p) [48][49][50] and require reliable vacuum pumps for continued attachment.…”

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

“…Dry fibrillar adhesives and suction cups are frequently used for attachment on low rugosity surfaces, such as glass or polished metal (figure 3c,g,k,l,p) [43][44][45][46][47][48][49][50]176]. Fibrillar adhesives, inspired by the setae of gecko toes, are well suited to both porous and non-porous materials because of their reliance on van der Waals forces [176].…”

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

“…Under such conditions, aerial robots must exert substantial forces to remain attached or navigate along the surface. 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].…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

“…Many of these surfaces are vertically oriented and hard, and a subset, including glass and metal surfaces, have a very low rugosity. Attachment of robots and animals to these surfaces requires close surface proximity using an adhesive pad or a suction seal (figure 3c,g,k,l,p) [42][43][44][45][46][47][48][49][50]. Other relatively hard and vertically oriented surfaces include brick, concrete and stucco with many asperities formed by holes and bumps, which facilitate the use of spines (figure 3b,f,j,o) [18,41,[51][52][53][54].…”

Section: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

“…Landings of present aerial robots typically involve one of three manoeuvres: pitch-up, direct approach or inversion (figure 3) [18,[41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59]. Each manoeuvre has specific trade-offs in required situational awareness, aerodynamic control and force on the attachment mechanism to enable landing and perching.…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

See 4 more Smart Citations

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

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

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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.

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