Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

Huang, Chengwei; Liu, Yong; Wang, Ke; Bai, Bing

doi:10.3390/app12083988

Cited by 5 publications

(4 citation statements)

References 31 publications

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“…It improves the landing accuracy on a magnetic wall surface using an iterative learning control algorithm. The land–air–wall cross-domain robot in [ 50 ] uses Gecko behavior as a bionic basis. It can fly in the sky, run on the ground, and attach to different kinds of walls.…”

Section: Discussionmentioning

confidence: 99%

“…In addition, under the synergistic action of adhesive pad and rotor negative pressure, this aerial–wall biomimetic robot can resist large external normal and tangential forces so that the robot can achieve stable adhesion and dynamic climbing on vertical surfaces with various roughness. This extends the working time and expands the monitoring scope, which is impossible for traditional flying robots that use only flapping-wing power or only rotor-wing power [ 4 , 32 , 35 , 37 , 40 , 50 , 51 ]. Therefore, we believe that the aerial–wall robot truly combines wall climbing with air flying, extending the movement environment, working space, and mission duration of traditional aircraft.…”

Section: Discussionmentioning

confidence: 99%

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An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

Shen

et al. 2023

Research

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Insects that can perform flapping-wing flight, climb on a wall, and switch smoothly between the 2 locomotion regimes provide us with excellent biomimetic models. However, very few biomimetic robots can perform complex locomotion tasks that combine the 2 abilities of climbing and flying. Here, we describe an aerial–wall amphibious robot that is self-contained for flying and climbing, and that can seamlessly move between the air and wall. It adopts a flapping/rotor hybrid power layout, which realizes not only efficient and controllable flight in the air but also attachment to, and climbing on, the vertical wall through a synergistic combination of the aerodynamic negative pressure adsorption of the rotor power and a climbing mechanism with bionic adhesion performance. On the basis of the attachment mechanism of insect foot pads, the prepared biomimetic adhesive materials of the robot can be applied to various types of wall surfaces to achieve stable climbing. The longitudinal axis layout design of the rotor dynamics and control strategy realize a unique cross-domain movement during the flying–climbing transition, which has important implications in understanding the takeoff and landing of insects. Moreover, it enables the robot to cross the air–wall boundary in 0.4 s (landing), and cross the wall–air boundary in 0.7 s (taking off). The aerial–wall amphibious robot expands the working space of traditional flying and climbing robots, which can pave the way for future robots that can perform autonomous visual monitoring, human search and rescue, and tracking tasks in complex air–wall environments.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

Shen

et al. 2023

Research

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“…Another popular method for robotic balancing is utilising propellers facing a perpendicular plane thus generating torque from their thrust. Notable examples include Salto [5], the slackliner robot [6], and LAWCDR [7]. Although these solutions offer some advantages, they suffer from the additional mass and structural complexity that could be otherwise reserved for their primary functions.…”

Section: Introductionmentioning

confidence: 99%

AeroTail: A Bio-Inspired Aerodynamic Tail Mechanism for Robotic Balancing

Sun,

Zhou

2023

2023 28th International Conference on Automation and Computing (ICAC)

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This paper presents a novel bio-inspired "tail" design that harnesses aerodynamic drag to generate torque for robotic balancing. Drawing inspiration from the natural world, this innovative approach aims to improve the efficiency of balancing robots while reducing their overall mass. While reaction wheels have been widely used for satellite stabilisation and inverted pendulum-like balancing robots, their inherent mass can be problematic in Earth's environment. Biomimetic research demonstrates that animal tails can produce torque for righting and manoeuvring during rapid movement due to their aerodynamic features, such as fur. Motivated by these observations, we proposed a bio-inspired tail mechanism that balances robots by exclusively utilising aerodynamically induced torques. To simulate this device, an inverted pendulum-based dynamic model is introduced, and the balancing process is governed by a PD controller. Comparative simulation studies examine the behaviours of a traditional reaction-wheel-based tail (RW tail) and the proposed aerodynamic drag-driven tail (AeroTail), discussing their respective advantages and limitations. The findings reveal that the AeroTail outperforms the RW tail in most metrics, achieving a remarkable 33.2% reduction in peak torque input and a 72.8% decrease in peak velocity requirement while not relying on extra mass to function.

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“…The micro-robot proposed in [10] is also capable of mimicking insect wing-flapping. There are also some special robots, such as the land-air robot with the ability to adsorb to walls [11]. Research on CDRs and amphibious robots mainly focuses on structural innovations, while research robot control methods are relatively lacking [12,13].…”

Section: Introductionmentioning

confidence: 99%

Water Surface and Ground Control of a Small Cross-Domain Robot Based on Fast Line-of-Sight Algorithm and Adaptive Sliding Mode Integral Barrier Control

et al. 2022

Self Cite

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This paper focuses on the control method of small cross-domain robots (CDR) on the water surface and the ground. The maximum size of the robot is 85 cm and the weight of the robot is 6.5 kg. To solve the problem that CDRs cannot handle the lateral velocity, which leads to error in tracking the desired trajectory, a fast line of sight (FLOS) algorithm is proposed. In this method, an exponential term is introduced to plan the yaw angle, and a fast-extended state observer (FESO) is designed to observe the side slip angle without small angle assumption. The performances and working environments of CDRs are different on the ground and the water surface. Therefore, to avoid the driver saturation and putting risk, an adaptive sliding mode integral barrier control (ASMIBC) is proposed to constrain the robot state. This control method solves the constraint failure of the traditional integral barrier control (IBC) when the desired state is a constant. The gain of the sliding mode is adaptively adjusted by the error between the limit state and the actual state. In addition, the adaptive rate is designed for uncertain time-varying lumped disturbances, such as water resistance, currents and wind. Simulation results demonstrate the effectiveness of the proposed control method.

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Land–Air–Wall Cross-Domain Robot Based on Gecko Landing Bionic Behavior: System Design, Modeling, and Experiment

Cited by 5 publications

References 31 publications

An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

An Aerial–Wall Robotic Insect That Can Land, Climb, and Take Off from Vertical Surfaces

AeroTail: A Bio-Inspired Aerodynamic Tail Mechanism for Robotic Balancing

Water Surface and Ground Control of a Small Cross-Domain Robot Based on Fast Line-of-Sight Algorithm and Adaptive Sliding Mode Integral Barrier Control

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