Mechanism for perching on smooth surfaces using aerial impacts

Wopereis, H. W.; Molen, T. D. van der; Post, T. H.; Stramigioli, Stefano; Fumagalli, Matteo

doi:10.1109/ssrr.2016.7784292

Cited by 47 publications

(27 citation statements)

References 15 publications

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“…Robots that combine different mobility systems have been designed to work in complex environments. These include aerial robots that are able to perch on walls and cables [16][17] [18] [19], prototypes that fly and roll over ground [20], and also robots that fly and sail on water [21] or can fly and dig underwater [22]. However, most of these prototypes have been built for multimodal mobility demonstration and have not been designed to perform work in industrial plants.…”

Section: Introductionmentioning

confidence: 99%

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Lopez-Lora¹,

Sanchez-Cuevas²,

Suárez³

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, we propose a new concept of robot which is hybrid, including aerial and crawling subsystems and an arm, and also modular with interchangeable crawling subsystems for different pipe configurations, since it has been designed to cover most industrial oil & gas end-users' requirements. The robot has the same ability than aerial robots to reach otherwise inaccessible locations, but makes the inspection more efficient, increasing operation time since crawling requires less energy than flying, and achieving better accuracy in the inspection. It also integrates safety-related characteristics for operating in the potentially explosive atmosphere of a refinery, being able to immediately interrupt the inspection if a hazardous situation is detected and carry the sensible parts such as batteries and electronic devices away as soon as possible. The paper presents the design of this platform in detail and shows the feasibility of the whole system performing indoor experiments.

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Section: Introductionmentioning

confidence: 99%

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Lopez-Lora¹,

Sanchez-Cuevas²,

Suárez³

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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show abstract

“…9,11,31,32,[78][79][80][81][82] • Revolute or prismatic joint: Prismatic joint manipulators are used by University of Bologna, 88 University of the West of England, 89 and University of Twente. 90,91 Other manipulators are with revolute joints. 8-11, 31-40, 78-82 • Redundant manipulator: A considerable number of manipulators with multiple DOFs have been developed for aerial operations, as shown in Table I.…”

Section: Robotic Manipulatormentioning

confidence: 99%

Survey on Aerial Manipulator: System, Modeling, and Control

Meng

He²,

Han

2019

Robotica

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SUMMARYThe aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their applications. In this survey, a complete and systematic review of related research on this topic is conducted. First, various types of structure designs of aerial manipulators are listed out. Subsequently, the modeling and control methods are introduced in detail from the perspective of two types of typical application cases: free-flight and motion-restricted operations. Finally, challenges for future research are presented.

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“…24,25 The biomimetic manipulator used in Doyle et al 21 can achieve perching without consuming energy. Vacuum suction 24,25 is a practical solution for perching and grasping in many ways. The perching mechanisms mentioned above are all pragmatic solutions under certain constrained environment.…”

Section: Perching Mechanismmentioning

confidence: 99%

“…Regarding perching mechanism for quadrotors, there are passive biomimetic mechanism, 21 active perching mechanism, 22 a dry adhesive mechanism 23 and vacuum suction. 24,25 The biomimetic manipulator used in Doyle et al 21 can achieve perching without consuming energy. Vacuum suction 24,25 is a practical solution for perching and grasping in many ways.…”

Section: Perching Mechanismmentioning

confidence: 99%

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

Wang

Wong

2019

International Journal of Micro Air Vehicles

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Inspired by talon of a predator bird, this paper presents a quadrotor with two 2-Degree of Freedoms (DOFs) compliant manipulators which could mimic bird perching and grasping. The symmetric configuration of the manipulators causes minimum shift in center of gravity and a minimum disturbance to the angular momentum of the platform during grasping and perching maneuvers. Thus, the dynamics of the manipulator is independent to that of the platform. Moreover, a compliant end-effector is introduced to decouple the dynamics of the unmanned aerial vehicles from the force interaction with the environment or target objects. Therefore, aerial manipulation problem is significantly simplified due to the minimum amount of disturbance among components. In addition, the manipulators could function as the landing gear, which allows larger work envelope, weight saving and less landing impact. It also has the potential to achieve a birdlike "perch and watch" to increase the endurance of unmanned aerial vehicles in missions that involve extended endurance.

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Mechanism for perching on smooth surfaces using aerial impacts

Cited by 47 publications

References 15 publications

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

MHYRO: Modular HYbrid RObot for contact inspection and maintenance in oil & gas plants

Survey on Aerial Manipulator: System, Modeling, and Control

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors

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