Modeling the dynamics of perching with opposed-grip mechanisms

Jiang, Hao; Pope, Morgan T.; Hawkes, Elliot W.; Christensen, David L.; Estrada, Matthew A.; Parlier, Andrew; Tran, Richie; Cutkosky, Mark R.

doi:10.1109/icra.2014.6907305

Cited by 37 publications

(29 citation statements)

References 12 publications

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“…The molecular interaction arising from van der Waals forces supports large shear forces in addition to some normal adhesion [176]. These attributes make these adhesives appropriate for vertical and steeply inclined surfaces (figure 3c,k,l) [42][43][44][45][46][47]. Suction cups forming seals have been demonstrated to work for smooth, non-porous surfaces (figure 3g,p) [48][49][50] and require reliable vacuum pumps for continued attachment.…”

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

“…Dry fibrillar adhesives and suction cups are frequently used for attachment on low rugosity surfaces, such as glass or polished metal (figure 3c,g,k,l,p) [43][44][45][46][47][48][49][50]176]. Fibrillar adhesives, inspired by the setae of gecko toes, are well suited to both porous and non-porous materials because of their reliance on van der Waals forces [176].…”

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

“…Under such conditions, aerial robots must exert substantial forces to remain attached or navigate along the surface. Surface attachment solutions include grasping, claws, adhesive pads and suction [18,[41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59]. Some prototypes have begun to navigate surfaces with these techniques [41,44,[139][140][141].…”

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

“…Many of these surfaces are vertically oriented and hard, and a subset, including glass and metal surfaces, have a very low rugosity. Attachment of robots and animals to these surfaces requires close surface proximity using an adhesive pad or a suction seal (figure 3c,g,k,l,p) [42][43][44][45][46][47][48][49][50]. Other relatively hard and vertically oriented surfaces include brick, concrete and stucco with many asperities formed by holes and bumps, which facilitate the use of spines (figure 3b,f,j,o) [18,41,[51][52][53][54].…”

Section: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

“…Landings of present aerial robots typically involve one of three manoeuvres: pitch-up, direct approach or inversion (figure 3) [18,[41][42][43][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58][59]. Each manoeuvre has specific trade-offs in required situational awareness, aerodynamic control and force on the attachment mechanism to enable landing and perching.…”

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

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Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

Self Cite

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

Section: Surface Contact and Locomotion In Aerial Robotsmentioning

confidence: 99%

Section: Air-surface Transitions In Aerial Robotsmentioning

confidence: 99%

Section: Diversity Of Natural and Engineered Surfacesmentioning

confidence: 99%

Section: Landing and Take-off In Aerial Robotsmentioning

confidence: 99%

See 3 more Smart Citations

Touchdown to take-off: at the interface of flight and surface locomotion

Roderick¹,

Cutkosky²,

Lentink³

2017

Interface Focus.

Self Cite

View full text Add to dashboard Cite

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Making Contact: A Review of Robotic Attachment Mechanisms for Extraterrestrial Applications

Spenko

2021

Advanced Intelligent Systems

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For many applications, mobile robots must adhere to, grasp, or otherwise attach to external objects to manipulate or anchor to them. In space applications, these actions may take place during satellite grappling, orbital debris capture, perching, or sample extraction. In many of these cases, specialized attachment mechanisms have been proposed because of the unique challenges found in the space environment. Namely, many attachment mechanism technologies that work on Earth are not viable in space. For example, electromagnetism requires ferromagnetic materials, which are not commonly found in space structures; suction does not work because of a lack of an atmosphere; and pressure sensitive adhesives, such as tape, outgas in a vacuum. Instead, there are numerous other technologies that, for a variety of reasons, are more attuned to the space environment. This article presents a review of such technologies with a focus on bio-inspired fibrillar controllable adhesives (i.e., gecko-like, microstructured, or dry adhesives), electrostatic adhesives, and microspines.The article is organized as follows. Section 2 provides an overview of potential robotic applications in the space environment. Potential is key in this instancemost of the technologies described in this article are mature and have been tested thoroughly in simulated space environments, but the leap from experiments to deployment in real missions has yet to occur at scale or even at all. Reasons for this will be discussed throughout the article and in Section 6, which looks at future challenges in this field. Prior to that, Section 3 reviews gecko-like adhesives, and electrostatic adhesion is addressed in Section 4 followed by microspines in Section 5. Applications OverviewThis section details four applications for robotic attachment mechanisms in space and extraterrestrial use: 1) satellite and orbital debris capture, 2) perching drones for astronaut assistance and monitoring, 3) anchoring on asteroids and other rocky surfaces, and 4) climbing for planetary exploration.Following it are three sections that elaborate on the technologies. Satellite and Orbital Debris CaptureDue to the exorbitant cost of launching a satellite, it may be economically advantageous to capture and service satellites that have malfunctioned or are otherwise in need of repair. [1] This concept, that it could be more cost and time efficient to repair, refuel, and otherwise service satellites in space as opposed to launching a new satellite, has seen significant traction recently. [2] In addition, orbital debris is already an issue as there are an estimated 34 000 pieces larger than 20 cm in low Earth orbit that pose significant danger to operational satellites, [3,4] even those that use physical protection. [5] There have been several examples of satellites being lost to or suspected of being lost to orbital debris. [6] Furthermore, there have been at least 16 maneuvers,

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Passive Perching with Energy Storage for Winged Aerial Robots

Stewart

Guarino

Piskarev

et al. 2021

Advanced Intelligent Systems

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Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic energy balance has to be struck. Reducing too much energy results in the vehicle stalling and falling. Too much kinetic energy at touchdown could damage the vehicle. Most studies used dangerous pitch‐up maneuvers to manage this balance. This work presents a system that eliminates the pitch‐up maneuver by mechanically capturing and storing kinetic energy at impact. It is validated using a passive mechanical system consisting of a storage mechanism for energy recuperation and a claw for perching on a horizontal rod. The energy stored in the mechanism is then used to unperch. The mathematical model for the recuperation strategy is presented and perching success at various approach attitudes are characterized. The proof‐of‐concept claw recaptures 5% of the kinetic energy during perching. Experiments indicate that the device can successfully perch at a wide range of yaw angles, but requires more precision in roll. We show that our perching mechanism enables the fastest UAV perching to date (7.4 m s−1).

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Modeling the dynamics of perching with opposed-grip mechanisms

Cited by 37 publications

References 12 publications

Touchdown to take-off: at the interface of flight and surface locomotion

Touchdown to take-off: at the interface of flight and surface locomotion

Making Contact: A Review of Robotic Attachment Mechanisms for Extraterrestrial Applications

Passive Perching with Energy Storage for Winged Aerial Robots

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