A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces

Pope, Morgan T.; Kimes, Christopher W.; Jiang, Hao; Hawkes, Elliot W.; Estrada, Matt A.; Kerst, Capella F.; Roderick, William R. T.; Han, Amy Kyungwon; Christensen, David L.; Cutkosky, Mark R.

doi:10.1109/tro.2016.2623346

Cited by 114 publications

(62 citation statements)

References 23 publications

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“…(d) Multimodal flying and walking wing (Daler, Mintchev, Stefanini, & Floreano, ). (e) Multimodal flying and climbing quadcopter (Pope et al, ) [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: State Of the Artmentioning

confidence: 99%

“…Multimodal drones overcome this problem by recruiting different modes of locomotion, each one of them suited for a specific environment or task (Lock, Burgess, & Vaidyanathan, ). Among the different types of locomotion modes, flight and ground locomotion (Daler et al, ; Kalantari & Spenko, ; Morton & Papanikolopoulos, ; Mulgaonkar et al, ; see Figure d) or climbing (Pope et al, ; see Figure e) are complementary and their combination offers unique opportunities to largely extend the versatility and mobility of robots. The option of aerial and terrestrial locomotion modes allows robots to optimize over either speed and ease of obstacle negotiation or low power consumption and locomotion safety.…”

Section: State Of the Artmentioning

confidence: 99%

“…Scansorial capabilities allow to perch on surfaces and remain stationary to collect information with minimal power consumption. Furthermore, multimodal aerial and terrestrial locomotion also enables hybrid control strategies where, during terrestrial locomotion, steering (Mulgaonkar et al, ) or adhesion (Pope et al, ) can be achieved or facilitated by aerodynamic forces. Multimodal locomotion has been also exploited to develop FlyCroTugs, a class of robots that add to the mobility of miniature drones the capability of forceful manipulation (Estrada, Mintchev, Christensen, Cutkosky, & Floreano, ).…”

Section: State Of the Artmentioning

confidence: 99%

See 2 more Smart Citations

The current state and future outlook of rescue robotics

Delmerico

Mintchev

Giusti

et al. 2019

Journal of Field Robotics

222

124

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Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real-world environments. Postdisaster scenarios are a particularly relevant target for applying such technologies, due to the challenging conditions faced by rescue workers and the possibility to increase their efficacy while decreasing the risks they face. However, field-deployable technologies for rescue work have requirements for robustness, speed, versatility, and ease of use that may not be matched by the state of the art in robotics research. This paper aims to survey How to cite this article: Delmerico J, Mintchev S, Giusti A, et al. The current state and future outlook of rescue robotics.

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Section: State Of the Artmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%

See 1 more Smart Citation

The current state and future outlook of rescue robotics

Delmerico

Mintchev

Giusti

et al. 2019

Journal of Field Robotics

222

124

View full text Add to dashboard Cite

show abstract

“…Though limbed robots are slower in translational locomotion than wheeled robots, they offer greater balance while moving over uneven terrains (Pope, et al, 2016). The physical orientation of wheeled robots while in motion is directly dependent on the shape and form of the terrain on which it moves.…”

Section: Introductionmentioning

confidence: 99%

A Novel Energy-Efficient Hexapod Robot Design using a Rotary Encoder-Embedded Weight-Bearing Wheel

2019

CTI

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The direct proportionality that exists between the joint actuator rated torque of conventional hexapod robots and the payload mass makes them unsuitable for applications that require energy efficiency. In this paper, we propose a novel hexapod robot design which involves the incorporation of a rotary encoder-embedded weight-bearing wheel to relax the stringent limitations on the choice of the robot's joint actuator torques and the battery capacity. The results of the prototype implementation showed that our design inherits the merits of easy linear distance measurement via the embedded rotary encoder, low actuator torque and high payload capability from wheeled robots.

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“…Seeking energy efficient locomotion, a jump‐gliding miniature robot (Vidyasagar, Zufferey, Floreano, & Kovač, ) is able to take off from ground using high‐power jumping mechanisms (Kovač, Schlegel, Zufferey, & Floreano, ), and uses gliding flight to effectively exploit the height gained after the boost for energy‐efficient mobility. To overcome limited endurance and restrictions on current battery capacity of small‐scale aerial robots, the Stanford Climbing and Aerial Maneuvering Platform (Pope et al, ) provides one promising solution which effectively combines directional attachment (Estrada, Hawkes, Christensen, & Cutkosky, ) and climbing (Dickson & Clark, ) technologies. Other examples include adaptive morphology design principles for multimodal locomotion, such as the flying and walking robot, DALER, which is able to use its wings as legs to move on the ground, leading to effective and adaptive locomotion in different environments (Daler, Lecoeur, Hählen, & Floreano, ).…”

Section: Introductionmentioning

confidence: 99%

Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots

Zhang

Chermprayong

Tzoumanikas

et al. 2018

Journal of Field Robotics

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One of the main challenges for autonomous aerial robots is to land safely on a target position on varied surface structures in real‐world applications. Most of current aerial robots (especially multirotors) use only rigid landing gears, which limit the adaptability to environments and can cause damage to the sensitive cameras and other electronics onboard. This paper presents a bioinpsired landing system for autonomous aerial robots, built on the inspire–abstract–implement design paradigm and an additive manufacturing process for soft thermoplastic materials. This novel landing system consists of 3D printable Sarrus shock absorbers and soft landing pads which are integrated with an one‐degree‐of‐freedom actuation mechanism. Both designs of the Sarrus shock absorber and the soft landing pad are analyzed via finite element analysis, and are characterized with dynamic mechanical measurements. The landing system with 3D printed soft components is characterized by completing landing tests on flat, convex, and concave steel structures and grassy field in a total of 60 times at different speeds between 1 and 2 m/s. The adaptability and shock absorption capacity of the proposed landing system is then evaluated and benchmarked against rigid legs. It reveals that the system is able to adapt to varied surface structures and reduce impact force by 540N at maximum. The bioinspired landing strategy presented in this paper opens a promising avenue in Aerial Biorobotics, where a cross‐disciplinary approach in vehicle control and navigation is combined with soft technologies, enabled with adaptive morphology.

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A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces

Cited by 114 publications

References 23 publications

The current state and future outlook of rescue robotics

The current state and future outlook of rescue robotics

A Novel Energy-Efficient Hexapod Robot Design using a Rotary Encoder-Embedded Weight-Bearing Wheel

Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots

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