Artículo
How ornithopters can perch autonomously on a branch
Autor/es | Zufferey, Raphael
Tormo Barbero, Jesús Feliu-Talegon, Daniel Nekoo, Saeed Rafee Acosta Rodríguez, José Ángel ![]() ![]() ![]() ![]() ![]() ![]() ![]() Ollero Baturone, Aníbal ![]() ![]() ![]() ![]() ![]() ![]() ![]() |
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Departamento | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Fecha de publicación | 2022 |
Fecha de depósito | 2023-02-13 |
Publicado en |
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Resumen | Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated ... Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight. In this paper, we present a process to autonomously land an ornithopter on a branch. This method describes the joint operation of a pitch-yaw-altitude flapping flight controller, an optical close-range correction system and a bistable claw appendage design that can grasp a branch within 25 milliseconds and re-open. We validate this method with a 700 g robot and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight. |
Agencias financiadoras | Unión Europea Horizonte 2020 |
Identificador del proyecto | 788247
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Asociado a la publicación | Zufferey, Raphael, Tormo Barbero, Jesus, Feliu Talegon, Daniel, Rafee Nekoo, Saeed, Acosta, Jose-Angel, & Ollero, Anibal. (2022). How Ornithopters Can Perch Autonomously On A Branch [Data set]. Zenodo. https://doi.org/10.5281/zenodo.7225970 |
Cita | Zufferey, R., Tormo Barbero, J., Feliu-Talegon, D., Nekoo, S.R., Acosta Rodríguez, J.Á. y Ollero Baturone, A. (2022). How ornithopters can perch autonomously on a branch. Nature Communications, 13 (1), 7713. https://doi.org/10.1038/s41467-022-35356-5. |
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