Scansorial Landing and Perching

Desbiens, Alexis Lussier; Asbeck, Alan T.; Cutkosky, Mark R.

doi:10.1007/978-3-642-19457-3_11

Cited by 11 publications

(26 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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]. In addition, urban areas feature many poles, pipes, posts and power lines.…”

Section: Diversity Of Natural and Engineered Surfacesmentioning

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%

“…However, this high angle of attack reduces control because translating wings will stall [57,148]. Thus, the timing of the pitch-up manoeuvre is critical [51,57]: too soon and the robot will fall, too late and it will crash into the surface. Pitch-up manoeuvres remain a challenge in part because current analytical aerodynamic techniques cannot predict the force fluctuations during these manoeuvres reliably [149,150].…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

“…These systems have been used for experiments to empirically generate the required control for trajectory planning (figure 3a) [57,156] and can give continuous position feedback (figure 3c) [142,143,[157][158][159][160][161][162]. The few robots that have not required a motion capture system use sensors to detect a wall and initiate a pitch-up manoeuvre ( figure 3b,c) [18,51,52,163]. To compensate for the lack of situational awareness using on-board sensing, some of the work in this field has been focused on how to recover from a failure [144,164].…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

“…Despite the strict control requirement, pitch-up manoeuvres offer design advantages for surface attachment. In a pitched up configuration, the robot can align its structure more closely to the surface, which minimizes the destabilizing pitch-back moment from the centre of mass with respect to the surface contact points (figure 3b,c) [18,43,51,52,[142][143][144]159].…”

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.

Self Cite

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: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

See 3 more Smart Citations

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

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

Self Cite

View full text Add to dashboard Cite

show abstract

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

Sriratanasak

Axinte

Dong

et al. 2022

Advanced Intelligent Systems

View full text Add to dashboard Cite

The application of Soft Crawling Robots (SCRs) to real‐world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult‐to‐reach environments by any obstacles. To overcome these limitations, a novel multimodal Tasering Twin Soft Robot (TTSR), carrying two SCRs, capable of 1) passive flight and 2) wall climbing to a desired location by deploying SCRs once reached the target is proposed. For satisfying both tasks, reconfigurable design of SCRs using a novel bistable mechanism and detaching mechanism based on a shape‐memory alloy for deploying SCRs is proposed. Each SCR is driven by two dielectric elastomer actuators (DEA) and three electroadhesive (EA) feet. To demonstrate multimodality, the TTSR with two SCRs is launched by pneumatic pressure and flown over an obstacle. While flying, the SCRs are folded compactly to reduce the air drag and perch on a wall 3 m away (50 times of body length) within 0.64 s. After perching, the SCRs reconfigure themselves for crawling and separated from each other. After that, the SCRs crawl, performing planar motion, and reach predefined locations on the wall. Moreover, the SCR can move across 15°‐slope dihedral surfaces and inverted surface.

show abstract

Avian‐Inspired Perching Mechanism for Jumping Robots

Kim

Woodward

Sitti

2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

The integration of multiple motion strategies in robots has been actively studied to expand the working environment through the addition of new locomotion modes, such as aquatic (swimming), terrestrial (walking and rolling), and aerial (flying and perching). The focus has been on the development of the mechanisms necessary to integrate multimodal locomotion capability. For example, four leg mechanisms connected with a membrane allow for the integration of gliding and walking; [1] a transformable wing mechanism integrates flying and walking [2] ; single-actuated leg mechanisms integrate amphibious walking motions on the water surface and solid terrain; [3] a bio-inspired, [4,5] wheel-like propeller, [6] and leg-flipper [7] mechanisms integrate swimming and walking. These adaptations allow the robot to interact with the environment in new ways, creating the new locomotion modes.Furthermore, from varying the working environment, roboticists have also studied strategic interactions between integrated locomotion modes. Each mode can cooperate to complement each other, maximizing performance of the integrated modes. In the case of integrated jumping and gliding modes, jumping mode provides the potential energy for gliding. The integrated gliding transforms the potential energy into propulsion using aerodynamics and generates longer jumping distances than a single jump. [8][9][10][11][12] Integrated walking and flying modes can also be very complimentary as orientation control is one of the challenging points for the bipedal walking robots. The actuators for flight control can assist in orientation control for the walking mode. [13] In addition, during near surface flight, intermittent surface contact can be used to stabilize the robot under external disturbances, such as air flows.The integration of perching into jumping robots can both expand the working environment and provide a complimentary behavior to enhance the jumping locomotion itself, allowing for greater jump height, longer jump distance, or more variability in jumping direction in general. Furthermore, jumping-gliding robots can maximize the gliding distance by integrating a perching motion to allow for gliding from the greater height and velocity achievable by jumping from a perch. In addition to locomotion-specific performance gains, perching provides task-specific benefits, such as exploring a wider area from an elevated position without power usage, [14,15] and charging batteries on the perched surface. [16] However, both perching and jumping from the perch have yet to be explored.This work develops an avian-inspired perching mechanism to integrate perching with a jumping robot, as seen in Figure 1A. The perching mechanism is designed to absorb the perching impact and establish an engagement with the surface while minimizing weight, as this is a key parameter in determining the jumping performance. Various works have developed shock-absorbing mechanisms: hydraulic compression [17] and viscoelastic material [18][19][20] and engagement types: grasping, [2...

show abstract

Scansorial Landing and Perching

Cited by 11 publications

References 20 publications

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

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

Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing

Avian‐Inspired Perching Mechanism for Jumping Robots

Contact Info

Product

Resources

About