Modeling and Under-actuated Control of Stabilization Before Take-off Phase for Flapping-wing Robots

Feliu-Talegón, Daniel; Nekoo, Saeed Rafee; Suárez, Alejandro; Acosta, José Ángel; Ollero, A.

doi:10.1007/978-3-031-21062-4_31

Cited by 4 publications

(4 citation statements)

References 27 publications

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“…The leg and claw structures of birds are also a common inspiration for designing landing and takeoff mechanisms. Feliu-Talegon et al [19] utilized bird-inspired structures to stabilize and facilitate the takeoff action of flapping-wing robots.…”

Section: Introductionmentioning

confidence: 99%

Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics

Senthil,

Vishanagra,

Sparkman

et al. 2024

Biomimetics

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Adapting grasp-specialized biomechanical structures into current research with 3D-printed prostheses may improve robotic dexterity in grasping a wider variety of objects. Claw variations across various bird species lend biomechanical advantages for grasping motions related to perching, climbing, and hunting. Designs inspired by bird claws provide improvements beyond a human-inspired structure for specific grasping applications to offer a solution for mitigating a cause of the high rejection rate for upper-limb prostheses. This research focuses on the design and manufacturing of two robotic test devices with different toe arrangements. The first, anisodactyl (three toes at the front, one at the back), is commonly found in birds of prey such as falcons and hawks. The second, zygodactyl (two toes at the front, two at the back), is commonly found in climbing birds such as woodpeckers and parrots. The evaluation methods for these models included a qualitative variable-object grasp assessment. The results highlighted design features that suggest an improved grasp: a small and central palm, curved distal digit components, and a symmetrical digit arrangement. A quantitative grip force test demonstrated that the single digit, the anisodactyl claw, and the zygodactyl claw designs support loads up to 64.3 N, 86.1 N, and 74.1 N, respectively. These loads exceed the minimum mechanical load capabilities for prosthetic devices. The developed designs offer insights into how biomimicry can be harnessed to optimize the grasping functionality of upper-limb prostheses.

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Section: Introductionmentioning

confidence: 99%

Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics

Senthil,

Vishanagra,

Sparkman

et al. 2024

Biomimetics

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“…Sliding Mode Control (SMC) is another robust scheme reported in the literature [ 41 ]. Active disturbance rejection techniques are also reported in the works [ 31 , 42 , 43 , 44 ].…”

Section: Introductionmentioning

confidence: 99%

“…In the proposed control strategy, disturbances and the coupling effects between pitch and roll channels are estimated by an Extended State Observer (ESO) and then compensated in real time. In [ 44 ], an interesting control problem is addressed. The work discusses the stabilization problem applied to flapping-wing robots before a take-off phase.…”

Section: Introductionmentioning

confidence: 99%

Attitude Control of Ornithopter Wing by Using a MIMO Active Disturbance Rejection Strategy

Gouvêa

Raptopoulos

Pinto

et al. 2023

Sensors

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This work proposes a mathematical solution for the attitude control problem of an ornithopter wing. An ornithopter is an artificial bird or insect-like aerial vehicle whose flight and lift movements are produced and maintained by flapping wings. The aerodynamical drag forces responsible for the flying movements are generated by the wing attitude and torques applied to its joints. This mechanical system represents a challenging problem because its dynamics consist of MIMO nonlinear equations with couplings in the input variables. For dealing with such a mathematical model, an Active Disturbance Rejection Control-based (ADRC) method is considered. The cited control technique has been studied for almost two decades and its main characteristics are the use of an extended state observer to estimate the nonmeasurable signals of the plant and a state-feedback control law in standard form fed by that observer. However, even today, the application of the basic methodology requires the exact knowledge of the plant’s control gain which is difficult to measure in the case of systems with uncertain parameters. In addition, most of the related works apply the ADRC strategy to Single Input Single Output (SISO) plants. For MIMO systems, the control gain is represented by a square matrix of general entries but most of the reported works consider the simplified case of uncoupled inputs, in which a diagonal matrix is assumed. In this paper, an extension of the ADRC SISO strategy for MIMO systems is proposed. By adopting such a control methodology, the resulting closed-loop scheme exhibits some key advantages: (i) it is robust to parametric uncertainties; (ii) it can compensate for external disturbances and unmodeled dynamics; (iii) even for nonlinear plants, mathematical analysis using Laplace’s approach can be always used; and (iv) it can deal with system’s coupled input variables. A complete mathematical model for the dynamics of the ornithopter wing system is presented. The efficiency of the proposed control is analyzed mathematically, discussed, and illustrated via simulation results of its application in the attitude control of ornithopter wings.

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“…Moreover, ref. [12] studies the stabilization control problem of flapping-wing robots just before a take-off phase from a branch. At this stage, the claw of the robot grasps the branch with enough friction to hold the system steady in a stationary condition while performing manipulation.…”

Section: Introductionmentioning

confidence: 99%

A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

et al. 2023

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The sampling and monitoring of nature have become an important subject due to the rapid loss of green areas. This work proposes a possible solution for a sampling method of the leaves using an ornithopter robot equipped with an onboard 94.1 g dual-arm cooperative manipulator. One hand of the robot is a scissors-type arm and the other one is a gripper to perform the collection, approximately similar to an operation by human fingers. In the move toward autonomy, a stereo camera has been added to the ornithopter to provide visual feedback for the stem, which reports the position of the cutting and grasping. The position of the stem is detected by a stereo vision processing system and the inverse kinematics of the dual-arm commands both gripper and scissors to the right position. Those trajectories are smooth and avoid any damage to the actuators. The real-time execution of the vision algorithm takes place in the lightweight main processor of the ornithopter which sends the estimated stem localization to a microcontroller board that controls the arms. The experimental results both indoors and outdoors confirmed the feasibility of this sampling method. The operation of the dual-arm manipulator is done after the perching of the system on a stem. The topic of perching has been presented in previous works and here we focus on the sampling procedure and vision/manipulator design. The flight experimentation also approves the weight of the dual-arm system for installation on the flapping-wing flying robot.

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Modeling and Under-actuated Control of Stabilization Before Take-off Phase for Flapping-wing Robots

Cited by 4 publications

References 27 publications

Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics

Design and Assessment of Bird-Inspired 3D-Printed Models to Evaluate Grasp Mechanics

Attitude Control of Ornithopter Wing by Using a MIMO Active Disturbance Rejection Strategy

A 94.1 g scissors-type dual-arm cooperative manipulator for plant sampling by an ornithopter using a vision detection system

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