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ICRA
2010
IEEE

Hybrid aerial and scansorial robotics

10 years 1 months ago
Hybrid aerial and scansorial robotics
— We present an approach that builds upon previous developments in unmanned air vehicles and climbing robots and seeks to emulate the capabilities of bats, insects and certain birds that combine powered flight with the ability to land and perch on sloped and vertical surfaces. As it approaches a wall, the plane executes an intentional pitch-up maneuver to shed speed and present its feet for landing. On contact, a nonlinear suspension dissipates the remaining kinetic energy and directs interaction forces toward the feet to engage small asperities on surfaces such as brick or concrete. The focus of the work in this paper is on the controller used for sensing a wall and executing vertical landing and take-off procedures and on the mechanisms developed for spine engagement and disengagement.
Alexis Lussier Desbiens, Alan T. Asbeck, Mark R. C
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Alexis Lussier Desbiens, Alan T. Asbeck, Mark R. Cutkosky
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