期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 3097-3104出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3061373
关键词
Robots; Payloads; Birds; Fasteners; Carbon; Task analysis; Propellers; Flapping-wing flight; payload-capable; prototype design; unmanned autonomous vehicles
类别
资金
- European Project GRIFFIN ERC Advanced Grant 2017 [788247]
Autonomous lightweight flapping-wing robots have the potential to be a safe and affordable solution for deploying robots around humans and in complex environments. However, current technology is still in its early stages with limited payload. The development of the Eagle-inspired E-Flap robot has shown promise in achieving high autonomy and stability.
Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying robots around humans and in complex environments. The absence of propellers makes such vehicles more resistant to physical contact, permitting flight in cluttered environments, and collaborating with humans. Importantly, the provision of thousands of species of birds that have already mastered the challenging task of flapping flight is a rich source of solutions. However, small wing flapping technology is still in its beginnings, with limited levels of autonomy and physical interaction capability with the environment. One significant limitation to this is the low payload available. Here we show the Eagle-inspired Flapping-wing robot E-Flap, a 510 g novel design capable of a 100% of payload, exceeding the requirement of the computing and sensing package needed to fly with a high degree of autonomy. The concept is extensively characterized, both in a tracked indoor space and in outdoor conditions. We demonstrate flight path angle of up to 50 degrees and velocities from as low as 2 m/s to over 6 m/s. Overall, the robotic platform has been proven to be reliable, having performed over 100 flights. Through mechanical and electronics advances, the E-Flap is a robust vehicle prototype and paves the way towards flapping-wing robots becoming a practical fully autonomous flying solution. Video attachment: https://youtu.be/GpAa176TMf0
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据