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A bio-inspired manipulator with claw prototype for winged aerial robots: Benchmark for design and control

Daniel Feliu Talegón, José Ángel Acosta, Alejandro Suarez, Anibal Ollero
2021 Zenodo  
This work presents a first prototype of lightweight manipulator to be mounted in ornithopters and a new control methodology to balance them while they are perched and following a desired path with the  ...  Moreover, the manipulation capabilities will allow them to perch in inaccessible places and perform some kind of tasks with the body perched.  ...  lightweight micro motors and, a novel bioinspired control methodology which 92 accounts for the static friction in the first passive joint (claw) for a precise control of the posture of 93 the system  ... 
doi:10.5281/zenodo.4924119 fatcat:gloigud2qzd73jyrimk5czieye

Design and manufacture of the folding mechanism for a Bioinspired Ornithopter

L. Calvente, J. A. Acosta, A. Ollero
2021 Zenodo  
Moreover, unlike most of the existent creations, it is intended to allow control of the folding while perching.  ...  This paper presents a folding mechanism for ornithopter's wings. The mechanism has been implemented using rods and joints to replicate wing performance of animal flight.  ...  Grau for their participation in the early phases of the project. The authors gratefully acknowledge to the Mechatronics engineer J. Tormo-Barbero, member of GRVC Laboratory, for the Electronics.  ... 
doi:10.5281/zenodo.4922627 fatcat:mfocqsqay5dxznc7m3wv5y3dnm

Design and manufacture of the folding mechanism for a Bioinspired Ornithopter

L. Calvente, J. A. Acosta, A. Ollero
2021 Zenodo  
Moreover, unlike most of the existent creations, it is intended to allow control of the folding while perching.  ...  This paper presents a folding mechanism for ornithopter's wings. The mechanism has been implemented using rods and joints to replicate wing performance of animal flight.  ...  Grau for their participation in the early phases of the project. The authors gratefully acknowledge to the Mechatronics engineer J. Tormo-Barbero, member of GRVC Laboratory, for the Electronics.  ... 
doi:10.5281/zenodo.5148399 fatcat:uie7n2bmrvdhjgrkus5kogvasm

Aerodynamic Reduced-order Volterra Model of an Ornithopter under High-amplitude Flapping

C. Ruiz, J.Á. Acosta, A. Ollero
2021 Zenodo  
The structure of the model and its predictability make it possible to use it in control tuning, in addition to being able to append nonlinear or aeroelastic terms using a similar method, also because of  ...  maneuvers such as perching.  ...  and allow the accomplishment of fully autonomous flight and perching.  ... 
doi:10.5281/zenodo.4917131 fatcat:tsuvf6h7vvc4hnqp26tq3pswvi

Energetics in robotic flight at small scales

Konstantinos Karydis, Vijay Kumar
2016 Interface Focus  
Recent advances in design, sensing and control have led to aerial robots that offer great promise in a range of real-world applications.  ...  This review paper provides a survey on small-scale aerial robots (i.e. less than 1 m 2 area foot print, and less than 3 kg weight) from the point of view of energetics.  ...  Bangura & Mahony [66] propose a simple lumped parameter nonlinear model for drag effects.  ... 
doi:10.1098/rsfs.2016.0088 pmid:28163880 pmcid:PMC5206607 fatcat:3xylh32lynhq5agwsio5n5dopi

Survey and Introduction to the Focused Section on Bio-Inspired Mechatronics

Metin Sitti, Arianna Menciassi, Auke Jan Ijspeert, Kin Huat Low, Sangbae Kim
2013 IEEE/ASME transactions on mechatronics  
This paper first reports a brief survey of recent studies on bioinspired mechatronic systems and their biological counterparts in respects of locomotion, actuation, sensing, and control.  ...  Understanding and adapting the underlying principles of biological systems to engineering systems have the promise of enabling many new mechatronic systems that can operate in unstructured and uncertain  ...  Doyle et al. propose a new avian-inspired passive mechanism for perching quadrotors.  ... 
doi:10.1109/tmech.2012.2233492 fatcat:fdi73scdcjh5bmklmwmv4y6kyu

A review of modelling and analysis of morphing wings

Daochun Li, Shiwei Zhao, Andrea Da Ronch, Jinwu Xiang, Jernej Drofelnik, Yongchao Li, Lu Zhang, Yining Wu, Markus Kintscher, Hans Peter Monner, Anton Rudenko, Shijun Guo (+4 others)
2018 Progress in Aerospace Sciences  
Methods and tools commonly deployed for the design and analysis of these concepts are discussed, ranging from structural to aerodynamic analyses, and from control to optimisation aspects.  ...  By adapting or optimising dynamically the shape to various flight conditions, there are yet many unexplored opportunities beyond current proof-of-concept demonstrations.  ...  Although the achievable aerodynamic changes of SMA actuation are suitable for in-flight mission adaptation of the wing, the slow cooling rate of the SMA actuation is not appropriate for the flight control  ... 
doi:10.1016/j.paerosci.2018.06.002 fatcat:ouoordkgd5cmhap64hpji2h5ya

A Survey of Small-Scale Unmanned Aerial Vehicles: Recent Advances and Future Development Trends

Guowei Cai, Jorge Dias, Lakmal Seneviratne
2014 Unmanned Systems  
Block diagram of a typical unmanned aerial system.  ...  This paper provides a brief overview on the recent advances of small-scale unmanned aerial vehicles (UAVs) from the perspective of platforms, key elements, and scientific research.  ...  Adaptive control [20] A Model Reference Adaptive Control (MRAC) architecture is proposed, in which adaptive control design is involved for both attitude loop stabilization and guidance logic augmentation  ... 
doi:10.1142/s2301385014300017 fatcat:pfq667ekbbbghduk4smm3pjuly

Past, Present, and Future of Aerial Robotic Manipulators

Anibal Ollero, Marco Tognon, Alejandro Suarez, Dongjun Lee, Antonio Franchi
2021 IEEE Transactions on robotics  
Finally, a new generation of aerial robotic manipulators is presented with our vision of the future.  ...  wide variety of robotic manipulators capable of physically interacting with the environment.  ...  In [62] , a nonlinear MPC-based controller, which considers the full nonlinear dynamics of the system and inputs constraints is proposed for any multirotor.  ... 
doi:10.1109/tro.2021.3084395 fatcat:r5vnwmw4gndfxcpzo6h6awuqea

Artificial evolution of the morphology and kinematics in a flapping-wing mini-UAV

E de Margerie, J B Mouret, S Doncieux, J-A Meyer
2007 Bioinspiration & Biomimetics  
The underlying adaptation of morphology and kinematics to varying flight speed were compared to available biological data on the flight of birds.  ...  Flight tests were conducted in a dedicated steady aerodynamics simulator. Parameters generating horizontal flight for minimal mechanical power were retained.  ...  This study was partly funded by a post-doctoral fellowship of the French 'Direction Generale de l'Armement' (DGA) for E de Margerie.  ... 
doi:10.1088/1748-3182/2/4/002 pmid:18037730 fatcat:sre3ijdosba25hhkbyya3lchru

Traditional and New Types of Passive Flow Control Techniques to Pave the Way for High Maneuverability and Low Structural Weight for UAVs and MAVs [chapter]

Mustafa Serdar Genç, Kemal Koca, Hacımurat Demir, Halil Hakan Açıkel
2020 Unmanned Aerial Vehicles [Working Title]  
This chapter presents a detailed review of traditional passive control techniques for flight vehicle applications operating at low Reynolds numbers.  ...  In addition to the traditional methods, a new concept of the pre-stall controller by means of roughness material, flexibility and partial flexibility is highlighted with experimental and numerical results  ...  This bioinspired technique has recently been investigated for different purposes experimentally or numerically.  ... 
doi:10.5772/intechopen.90552 fatcat:qi6jc64rjra5be7a2w3bmd6wry

Evolution and development of neural controllers for locomotion, gradient-following, and obstacle-avoidance in artificial insects

J. Kodjabachian, J.-A. Meyer
1998 IEEE Transactions on Neural Networks  
Barate R, Doncieux S, and Meyer J-A 2006 Design of a bio-inspired controller for dynamic soaring in a simulated UAV.  ...  Evolutionary Computation 13 501-525 DeLaurier J 1999 The development and testing of a full-scale piloted ornithopter.  ...  The authors wish to thank Thierry Druot for the development of the flight simulator and for his help with the analysis of the huge amount of data produced by the simulation.  ... 
doi:10.1109/72.712153 pmid:18255767 fatcat:iy4zjzgcjzc6pmwoqp3c5xpfga