LocoGear: Locomotion Analysis of Robotic Landing Gear for Multicopters

Yashin, Grigoriy A.; Egorov, Anton; Darush, Zhanibek; Zherdev, Nikolay; Tsetserukou, Dzmitry

doi:10.1109/jmass.2020.3015525

Cited by 14 publications

(5 citation statements)

References 17 publications

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“…Our work is inspired by several previous papers exploring UAV's ability to interact with the environment by robotic arms and chassis. Yashin et al [8] proposed a LocoGear, a novel algorithm for locomotion of UAV equipped with the robotic landing gear.…”

Section: Related Workmentioning

confidence: 99%

MorphoGear: An UAV with Multi-Limb Morphogenetic Gear for Rough-Terrain Locomotion

Мартынов¹,

Darush²,

Fedoseev³

et al. 2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Robots able to run, fly, and grasp have a high potential to solve a wide scope of tasks and navigate in complex environments. Several mechatronic designs of such robots with adaptive morphologies are emerging. However, the task of landing on an uneven surface, traversing rough terrain, and manipulating objects still presents high challenges.This paper introduces the design of a novel rotor UAV MorphoGear with morphogenetic gear and includes a description of the robot's mechanics, electronics, and control architecture, as well as walking behavior and an analysis of experimental results. MorphoGear is able to fly, walk on surfaces with several gaits, and grasp objects with four compatible robotic limbs. Robotic limbs with three degrees of freedom (DoFs) are used by this UAV as pedipulators when walking or flying and as manipulators when performing actions in the environment. We performed a locomotion analysis of the landing gear of the robot. Three types of robot gaits have been developed.The experimental results revealed low crosstrack error of the most accurate gait (mean of 1.9 cm and max of 5.5 cm) and the ability of the drone to move with a 210 mm step length. Another type of robot gait also showed low crosstrack error (mean of 2.3 cm and max of 6.9 cm). The proposed MorphoGear system can potentially achieve a high scope of tasks in environmental surveying, delivery, and high-altitude operations.

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Section: Related Workmentioning

confidence: 99%

MorphoGear: An UAV with Multi-Limb Morphogenetic Gear for Rough-Terrain Locomotion

Мартынов¹,

Darush²,

Fedoseev³

et al. 2023

2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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“…In the equation ( 7);( 9), the terms A ijk , B ijk ,C ij , D ijk , E ijk are related to the friction between the pads and the ground, and the expressions of A ijk , B ijk ,C ij , D ijk , E ijk are given in equation (10). l vi = (l vi1 (t), l vi2 (t), l vi3 (t)), i = 1, 2, 3, 4 is the normal direction vector of the sliding velocity, m denotes the friction coefficient between the pads and the ground.…”

Section: Problem Statementmentioning

confidence: 99%

“…In order to land on the uneven ground and avoid the hard landing, the rotorcraft robotic landing gears were designed such as the robotic landing gears in Sarkisov et al 9 and Yashin et al 10 The typical design of the rotorcraft robotic landing gear was shown in Figure 1.…”

Section: Problem Statementmentioning

confidence: 99%

“…The results of the experiments show that the adaptive landing gear can be used for landing on the sloped ground with the different angles and other uneven surfaces successfully. For achieving the function of the movement of the quadcopter with four legs, Yashin et al 10 propose an algorithm for the locomotion of the UAV equipped with the robotic landing gear. Moreover they analyze the center of mass trajectory to evaluate the possible trajectory of the rotorcraft.…”

Section: Introductionmentioning

confidence: 99%

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The dynamic analysis of the rotorcraft with robotic landing gear in the landing process on uneven ground

Liang

2022

Advances in Mechanical Engineering

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In order to avoid the hard landing on the uneven ground, several robotic landing gears of the rotorcraft are designed. In previous studies, most literature focuses on the control methods of the robotic landing gears. There has been very little research on the dynamic model of the rotorcraft with the robotic landing gears in the landing process. In this work, based on the Lagrangian formulation, the dynamic model of the rotorcraft considering different parameters in the landing process is derived, where the angle of the slope of the uneven ground and the angle of the attack of the rotorcraft are considered. Then an approach is presented to determine the bounds of the dynamic response of the rotorcraft with uncertainties parameters. The results of numerical examples show that in order to maintain the safety, the robotic landing gear of the rotorcraft would be controlled to adjust the condition of the ground, while the initial velocities are restricted to be less than certain value; the large deviations of the landing parameters would may resulted in an overload of the rotorcraft.

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“…The versatility of RLG systems are shown not just in their expanded landing envelopes and impact load reduction, but also in their extended applications. This includes RLG systems with the capability to walk (LocoGear hexacopter) which expands the missions that can be undertaken [56]. Legs on a RLG can be dual purposed to include manipulation [57,69].…”

Section: Robotic Landing Gearmentioning

confidence: 99%