A robust miniature robot design for land/air hybrid locomotion

Kossett, Alex; Papanikolopoulos, Nikolaos

doi:10.1109/icra.2011.5979845

Cited by 35 publications

(13 citation statements)

References 7 publications

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“…Self-righting in flying robots has been limited to integration in multi-copter vehicles. Engineers have utilized multiactuated protrusions that generate torque to reorient drones into their upright position similar to the ones used on terrestrial robots [17]- [19]. These suffer from performance reduction due to aerodynamic deficiencies and added weight.…”

Section: Related Workmentioning

confidence: 99%

Insect Inspired Self-Righting for Fixed-Wing Drones

Vourtsis

Rochel

Serrano

et al. 2021

IEEE Robot. Autom. Lett.

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Micro Aerial Vehicles (MAVs) are being used in a wide range of applications such as surveillance, reconnaissance, inspection, and search and rescue. However, due to their size and mission profiles, they are prone to tipping over, jeopardizing their operation. Self-righting is an open challenge for fixed-wing drones since existing research focuses on terrestrial and multicopter flying robots with solutions that increase drag and structural weight. Until now, solutions for winged drones remained largely unexplored. Inspired by beetles, we propose a robust and elegant solution where we retrofit a fixed-wing drone with a set of additional wings akin to beetles shell structured wings called elytra. We show that artificial elytra provide additional lift during flight to mitigate their structural weight while also being able to self-right the MAV when it has been flipped over. We performed simulations along with dynamic and aerodynamic experiments to validate our results.

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Section: Related Workmentioning

confidence: 99%

Insect Inspired Self-Righting for Fixed-Wing Drones

Vourtsis

Rochel

Serrano

et al. 2021

IEEE Robot. Autom. Lett.

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“…Elliott et al [31] used such a clutch to attach and detach a parallel spring to the joint of a knee exoskeleton. Kossett et al [32,33] used a dog clutch to switch between two modes of the robot: ground mode and flight mode. A special type of dog clutch was designed by Kern et al [34].…”

Section: Dog Clutchmentioning

confidence: 99%

Lock Your Robot: A Review of Locking Devices in Robotics

Plooij

Mathijssen

Cherelle

et al. 2015

IEEE Robot. Automat. Mag.

137

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Locking devices are widely used in robotics, for instance to lock springs, joints or to reconfigure robots. This review paper classifies the locking devices currently described in literature and preforms a comparative study. Designers can, as such, better determine which locking device best matches the needs of their application. The locking devices are divided into three main categories based on different locking principles: mechanical locking, friction-based locking and singularity locking. Different lockers in each category can be passive lockers or active lockers. Based on an elaborate literature study, the paper summarizes the findings by comparing different locking devices, based on a set of properties of a theoretical ideal locking device.

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“…A flying version of the Scout-wheeled robot features an extendable leg meant to upright the platform before flight [7]. This platform, however, is primarily designed as a ground platform and as such has very limited flight capabilities.…”

Section: Related Workmentioning

confidence: 99%

An Active Uprighting Mechanism for Flying Robots

et al. 2012

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Abstract-Flying robots have unique advantages in the exploration of cluttered environments such as caves or collapsed buildings. Current systems, however, have difficulty in dealing with the large amount of obstacles inherent to such environments. Collisions with obstacles generally result in crashes from which the platform can no longer recover. This paper presents a method to design active uprighting mechanisms for protected rotorcrafttype flying robots that allow them to become upright and subsequently take off again after an otherwise mission-ending collision. This method is demonstrated on a tailsitter flying robot, which is capable of consistently uprighting after falling on its side using a spring-based "leg" and returning to the air to continue its mission.

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A robust miniature robot design for land/air hybrid locomotion

Cited by 35 publications

References 7 publications

Insect Inspired Self-Righting for Fixed-Wing Drones

Insect Inspired Self-Righting for Fixed-Wing Drones

Lock Your Robot: A Review of Locking Devices in Robotics

An Active Uprighting Mechanism for Flying Robots

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