A bat-like switched flying and adhesive robot

Liu, Yong; Chen, Heping; Tang, Zhenmin; Sun, Guoxin

doi:10.1109/cyber.2012.6392533

Cited by 11 publications

(11 citation statements)

References 18 publications

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“…And the total thrust and angles in the second block are calculated by using (8) and (18). Torque from attitude angle is calculated using (9) and then the four rotor speeds are calculated according to the torque and the four thrust forces in (11) and are output to robot system block.…”

Section: System Setupmentioning

confidence: 99%

“…The flying and perching robot, which can fly in the sky and anchor on a wall surface alternately, has the advantages of both long distance motion with the ability to overcome obstacles and long time stop with low energy consumption. In our prior work, prototypes of active flying and perching robots we proposed [10,11], as shown in Figure 1, are promising in many applications. Figure 1(a) is the phototype of our developed generation one top perching robot adsorbed on the ceiling and mechanism of the adsorption device is based on vortex attraction technique.…”

Section: Introductionmentioning

confidence: 99%

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Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

Chen

Liu

et al. 2015

Journal of Robotics

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Currently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.

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Section: System Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

Chen

Liu

et al. 2015

Journal of Robotics

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“…At present, the perching methods can be divided into two types: non-mechanical and mechanical types. The non-mechanical type refers to that the perching or attaching force is mainly produced by non-mechanical methods, such as the air pressure difference [4][5][6], dry adhesive [7][8][9], magnetic induction [10,11], and electrostatic induction [12]. For example, Liu et al, [4] presented a batlike robot that can adhere to various vertical wall surfaces or ceilings with low power consumption by using a vacuum rotor with a centrifugal pump and a sealed chamber producing aerodynamic attraction.…”

Section: Introductionmentioning

confidence: 99%

“…The non-mechanical type refers to that the perching or attaching force is mainly produced by non-mechanical methods, such as the air pressure difference [4][5][6], dry adhesive [7][8][9], magnetic induction [10,11], and electrostatic induction [12]. For example, Liu et al, [4] presented a batlike robot that can adhere to various vertical wall surfaces or ceilings with low power consumption by using a vacuum rotor with a centrifugal pump and a sealed chamber producing aerodynamic attraction. Kalantari et al, [7] presented a method that enables quadrotor Micro Air Vehicle (MAV) to autonomously perch on and take off from smooth vertical surfaces with a dry adhesive gripper, which has shown the advantages of simple control and high success rate.…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of a Deformable Bird-inspired UAV Perching Mechanism

et al. 2021

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Energy consumption and acoustic noise can be significantly reduced through perching in the sustained flights of small Unmanned Aerial Vehicles (UAVs). However, the existing flying perching robots lack good adaptability or loading capacity in unstructured environments. Aiming at solving these problems, a deformable UAV perching mechanism with strong adaptability and high loading capacity, which is inspired by the structure and movements of birds' feet, is presented in this paper. Three elastic toes, an inverted crank slider mechanism used to realize the opening and closing movements, and a gear mechanism used to deform between two configurations are included in this mechanism. With experiments on its performance towards different objects, Results show that it can perch on various objects reliably, and its payload is more than 15 times its weight. By integrating it with a quadcopter, it can perch on different types of targets in outdoor environments, such as tree branches, cables, eaves, and spherical lamps. In addition, the energy consumption of the UAV perching system when perching on objects can be reduced to 0.015 times that of hovering.

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“…Previous versions [11] [12] include exploratory prototypes of flying and adhesive robots have been presented, which are promising in many application. However they are designed for special applications.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of the flying and adhesive robot

Liu

Sun

Chen

2013

2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)

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This paper presents the optimal design of the flying and adhesive robot, which is strongly needed by various industries and public security authorities. The power and payload of this kind of robots are always challenging research problems. Currently, the adhesion device in the robot can hold about 1.6kg payloads on the wall with about 3.5W power consumption. To further improve the robot's performance, the optimal design is discussed in this paper, which mainly includes adhesion mechanism optimization and geometry optimization. To obtain the geometry optimization, the supporting system has been well designed. Then, the fluid dynamics analysis of the adhesion unit was done. Several experiments were conducted on the robot prototype, which verified the optimal design concepts. Experimental results demonstrate that the robot can carry much more payloads as well as lower power consumption using the optimal design. Keywords-the flying and adhesive robot; adhesion mechanism; supporting system I. 978-1-4673-6322-8/13/$31.00 c 2013 IEEE

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A bat-like switched flying and adhesive robot

Cited by 11 publications

References 18 publications

Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control

Design and Experiment of a Deformable Bird-inspired UAV Perching Mechanism

Optimal design of the flying and adhesive robot

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