Thrust-Assisted Perching and Climbing for a Bioinspired UAV

Pope, Morgan T.; Cutkosky, Mark R.

doi:10.1007/978-3-319-42417-0_26

Cited by 13 publications

(22 citation statements)

References 28 publications

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“…Conversely, when attaching to a hard, flat wall with adhesives, it is important to conform intimately to the wall surface to prevent local stress concentrations and adhesive failure. At the same time, flat walls often provide significant aerodynamic 'ground effects', which the biological or robotic flyer needs to adapt to, or exploit, to reduce velocity and align itself to the surface [40,41].…”

Section: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

“…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%

“…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]. Take-off typically depends on the landing approach.…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

“…By contrast, horizontal approach manoeuvres, for both fixed wings and rotor-based robots require the contact mechanism to hold while the robot is cantilevered, unless the robot aligns its structure near to the surface (figure 3i-m) [44,46-48, 54,59,147]. Some quadrotors align themselves with the surface by pivoting nose-down (figure 3o-q) [41,49,53,140,141] or dropping below (figure 3n) [58] into an inverted configuration. The extra thrust from the rotors in the nose-down configuration can facilitate engagement of the attachment mechanism.…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

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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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Section: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

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%

See 2 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

“…Gecko-inspired adhesives have been found successful for perching on smooth inclined and vertical surfaces [70,93,94]. In addition, rotorcraft perching can be achieved via various attachments such as suction-based mechanisms [95], spines [96], and passive [97,98] and active [2,99] grippers.…”

Section: Perchingmentioning

confidence: 99%

Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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Recent advances in design, sensing and control have led to aerial robots that offer great promise in a range of real-world applications. However, one critical open question centres on how to improve the energetic efficiency of aerial robots so that they can be useful in practical situations. This review paper provides a survey on small-scale aerial robots (i.e. less than 1 m 2 area foot print, and less than 3 kg weight) from the point of view of energetics. The paper discusses methods to improve the efficiency of aerial vehicles, and reports on recent findings by the authors and other groups on modelling the impact of aerodynamics for the purpose of building energy-aware motion planners and controllers.

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Getting to grips with how birds land stably on complex surfaces

Biewener¹

2019

Nature

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Thrust-Assisted Perching and Climbing for a Bioinspired UAV

Cited by 13 publications

References 28 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

Energetics in robotic flight at small scales

Getting to grips with how birds land stably on complex surfaces

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