dc.contributor.advisor | | |
dc.creator | Zufferey, Raphael | es |
dc.creator | Tormo Barbero, Jesús | es |
dc.creator | Feliu-Talegon, Daniel | es |
dc.creator | Nekoo, Saeed Rafee | es |
dc.creator | Acosta Rodríguez, José Ángel | es |
dc.creator | Ollero Baturone, Aníbal | es |
dc.date.accessioned | 2023-02-13T18:45:11Z | |
dc.date.available | 2023-02-13T18:45:11Z | |
dc.date.issued | 2022 | |
dc.identifier.citation | 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. | |
dc.identifier.issn | 2041-1723 | es |
dc.identifier.uri | https://hdl.handle.net/11441/142683 | |
dc.description | This article is licensed under a Creative Commons
Attribution 4.0 International License, which permits use, sharing,
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long as you give appropriate credit to the original author(s) and the
source, provide a link to the Creative Commons license, and indicate if
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holder. To view a copy of this license, visit http://creativecommons.org/
licenses/by/4.0/. | es |
dc.description.abstract | 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. | es |
dc.format | application/pdf | es |
dc.format.extent | 11 p. | es |
dc.language.iso | eng | es |
dc.publisher | Nature Publishing Group | es |
dc.relation.ispartof | Nature Communications, 13 (1), 7713. | |
dc.relation.isreferencedby | 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 | |
dc.rights | Atribución 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | * |
dc.title | How ornithopters can perch autonomously on a branch | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/publishedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática | es |
dc.relation.projectID | 788247 | es |
dc.relation.projectID | 101029670 | es |
dc.relation.publisherversion | https://www.nature.com/articles/s41467-022-35356-5 | es |
dc.identifier.doi | 10.1038/s41467-022-35356-5 | es |
dc.contributor.group | Universidad de Sevilla. TEP151: Robótica, Visión y Control. | es |
dc.journaltitle | Nature Communications | es |
dc.publication.volumen | 13 | es |
dc.publication.issue | 1 | es |
dc.publication.initialPage | 7713 | es |
dc.contributor.funder | Unión Europea | es |
dc.contributor.funder | Horizonte 2020 | es |