Top

Published in:

2016 | OriginalPaper | Chapter

Thrust-Assisted Perching and Climbing for a Bioinspired UAV

Authors : Morgan T. Pope, Mark R. Cutkosky

Published in: Biomimetic and Biohybrid Systems

Publisher: Springer International Publishing

Activate our intelligent search to find suitable subject content or patents.

search-config

AI-assisted search

Off

Abstract

We present a multi-modal robot that flies, perches and climbs on outdoor surfaces such as concrete or stucco walls. Although the combination of flying and climbing mechanisms in a single platform extracts a weight penalty, it also provides synergies. In particular, a small amount of aerodynamic thrust can substantially improve the reliability of perching and climbing, allowing the platform to maneuver on otherwise risky surfaces. The approach is inspired by thrust-assisted perching and climbing observed in various animals including flightless birds.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

previous chapter Perceptive Invariance and Associative Memory Between Perception and Semantic Representation USER a Universal SEmantic Representation Implemented in a System on Chip (SoC)

next chapter The EASEL Project: Towards Educational Human-Robot Symbiotic Interaction

A video of SCAMP in operation is available at https://www.youtube.com/watch?v=bAhLW1eq8eM.

Keennon, M.T., Grasmeyer, J.M.: Development of the black widow and microbat mavs and a vision of the future of mav design. In: AIAA International Air and Space Symposium and Exposition: The Next 100 Years, pp. 14–17 (2003)

Prior, S.D., Shen, S.-T., Erbil, M.A., Brazinskas, M., Mielniczek, W.: HALO the winning entry to the DARPA UAVForge challenge 2012. In: Marcus, A. (ed.) DUXU 2013, Part III. LNCS, vol. 8014, pp. 179–188. Springer, Heidelberg (2013)

Kovač, M., Germann, J., Hürzeler, C., Siegwart, R.Y., Floreano, D.: A perching mechanism for micro aerial vehicles. J. Micro-Nano Mechatron. 5, 77–91 (2010)

Lussier Desbiens, A., Asbeck, A.T., Cutkosky, M.R.: Landing, perching and taking off from vertical surfaces. Int. J. Rob. Res. 30(3), 355–370 (2011)CrossRef

Kovac, M., Germann, J.M., Hurzeler, C., Siegwart, R., Floreano, D.: A perching mechanism for micro aerial vehicles. J. Micro-Nano Mechatron. 5, 77–91 (2009)CrossRef

Anderson, M.L., Perry, C.J., Hua, B.M., Olsen, D.S., Parcus, J.R., Pederson, K.M., Jensen, D.D.: The sticky-pad plane and other innovative concepts for perching UAVs. In: 47th AIAA Aerospace Sciences Meeting (2009)

Daler, L., Klaptocz, A., Briod, A., Sitti, M., Floreano, D.: A perching mechanism for flying robots using a fibre-based adhesive. In: IEEE International Conference on Robotics and Automation (2013)

Kalantari, A., Mahajan, K., Ruffatto III., D., Spenko, M.: Autonomous perching and take-off on vertical walls for a quadrotor micro air vehicle. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 4669–4674. IEEE (2015)

Tsukagoshi, H., Watanabe, M., Hamada, T., Ashlih, D., Iizuka, R.: Aerial manipulator with perching and door-opening capability. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 4663–4668. IEEE (2015)

10.

Liu, Y., Sun, G., Chen, H.: Impedance control of a bio-inspired flying and adhesion robot. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 3564–3569. IEEE (2014)

11.

Clark, J., Goldman, D., Lin, P.C., Lynch, G., Chen, T., Komsuoglu, H., Full, R.J., Koditschek, D.E.: Design of a bio-inspired dynamical vertical climbing robot. In: Robotics: Science and Systems (2007)

12.

Asbeck, A., Kim, S., Cutkosky, M.R., Provancher, W.R., Lanzetta, M.: Scaling hard vertical surfaces with compliant microspine arrays. Int. J. Rob. Res. 25, 14 (2006)CrossRef

13.

Spenko, M.J., Haynes, G.C., Saunders, J.A., Cutkosky, M.R., Rizzi, A.A., Full, R.J.: Biologically inspired climbing with a hexapedal robot. J. Field Rob. 25, 223–242 (2008)CrossRef

14.

Estrada, M., Hawkes, E.W., Christensen, D.L., Cutkosky, M.R., et al.: Perching and vertical climbing: Design of a multimodal robot. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 4215–4221. IEEE (2014)

15.

Myeong, W., Jung, K., Jung, S., Jung, Y., Myung, H.: Development of a drone-type wall-sticking and climbing robot. In: 2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 386–389. IEEE (2015)

16.

Dickson, J.D., Clark, J.E.: Design of a multimodal climbing and gliding robotic platform. IEEE/ASME Trans. Mechatron. 18(2), 494–505 (2013)CrossRef

17.

Mellinger, D., Shomin, M., Kumar, V.: Control of quadrotors for robust perching and landing. In: Proceedings of the International Powered Lift Conference, pp. 119–126 (2010)

18.

Thomas, J., Pope, M., Loianno, G., Hawkes, E.W., Estrada, M.A., Jiang, H., Cutkosky, M.R., Kumar, V.: Aggressive flight for perching on inclined surfaces. J. Mech. Rob. 8(5), Article ID. 051007 (2016). doi:10.1115/1.4032250

19.

Dai, Z., Gorb, S.N., Schwarz, U.: Roughness-dependent friction force of the tarsal claw system in the beetle pachnoda marginata (coleoptera, scarabaeidae). J. Exp. Biol. 205(16), 2479–2488 (2002)

20.

Gorb, S.N.: Biological attachment devices: exploring nature’s diversity for biomimetics. Philos. Trans. R. Soc. Lond. A: Math. Phys. Eng. Sci. 366(1870), 1557–1574 (2008)CrossRef

21.

Yanoviak, S.P., Dudley, R., Kaspari, M.: Directed aerial descent in canopy ants. Nature 433(7026), 624–626 (2005)CrossRef

22.

Yanoviak, S.P., Munk, Y., Kaspari, M., Dudley, R.: Aerial manoeuvrability in wingless gliding ants (cephalotes atratus). Proc. Roy. Soc. London B: Biol. Sci. 277, 2199–2204 (2010). doi:10.1098/rspb.2010.0170 CrossRef

23.

McCAY, M.G.: Aerodynamic stability and maneuverability of the gliding frog polypedates dennysi. J. Exp. Biol. 204(16), 2817–2826 (2001)

24.

Paskins, K.E., Bowyer, A., Megill, W.M., Scheibe, J.S.: Take-off and landing forces and the evolution of controlled gliding in northern flying squirrels Glaucomys sabrinus. J. Exp. Biol. 210(Pt. 8), 1413–1423 (2007)CrossRef

25.

Byrnes, G., Lim, N.T.L., Spence, A.J.: Take-off and landing kinetics of a free-ranging gliding mammal, the Malayan colugo (Galeopterus variegatus). Proc. Roy. Soc. B: Biol. Sci. 275, 1007–1013 (2008)CrossRef

26.

Fujita, M., Kawakami, K., Higuchi, H.: Hopping and climbing gait of japanese pygmy woodpeckers (picoides kizuki). Comp. Biochem. Physiol. Part A: Mol. Integr. Physiol. 148(4), 802–810 (2007)CrossRef

27.

Dial, K.P.: Wing-assisted incline running and the evolution of flight. Science 299(5605), 402–404 (2003)CrossRef

28.

Bundle, M.W., Dial, K.P.: Mechanics of wing-assisted incline running (WAIR). J. Exp. Biol. 206, 4553–4564 (2003)CrossRef

29.

Norberg, R.Å.: Why foraging birds in trees should climb and hop upwards rather than downwards. Ibis 123(3), 281–288 (1981)MathSciNetCrossRef

30.

Okamura, A.M., Cutkosky, M.R.: Feature detection for haptic exploration with robotic fingers. Int. J. Rob. Res. 20(12), 925–938 (2001)CrossRef

Title: Thrust-Assisted Perching and Climbing for a Bioinspired UAV
Authors: Morgan T. Pope
Mark R. Cutkosky
Publisher: Springer International Publishing
Book: Biomimetic and Biohybrid Systems
Print ISBN: 978-3-319-42416-3

Electronic ISBN: 978-3-319-42417-0

Copyright Year: 2016
DOI: https://doi.org/10.1007/978-3-319-42417-0_26

Springer Professional

Abstract

Please log in to get access to your license.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Springer Professional "Wirtschaft"