Avian-inspired passive perching mechanism for robotic rotorcraft

Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Current solutions for perch-and-stare applications utilize various methods to create an aircraft that can land on a limited set of surfaces that are typically horizontal or vertical planes. This paper presents a bio-...

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Bibliographic Details
Main Authors: Doyle, C. E., Bird, J. J., Isom, T. A., Johnson, C. J., Kallman, J. C., Simpson, J. A., King, R. J., Abbott, J. J., Minor, M. A.
Format: Conference Proceeding
Language:English
Subjects:
Birds
Foot
Force
Grasping
Joints
Robots
Tendons
Online Access:Request full text
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Summary:Flying robots capable of perch-and-stare are desirable for reconnaissance missions. Current solutions for perch-and-stare applications utilize various methods to create an aircraft that can land on a limited set of surfaces that are typically horizontal or vertical planes. This paper presents a bio-inspired concept that allows for passive perching on cylindrical-type surfaces. The prototype provides compliant gripping through the use of an underactuated foot. A mechanism inspired by songbird anatomy is integrated that utilizes rotorcraft weight as a way to passively actuate the foot. Successful perching trials on two rods of differing diameters were performed and are discussed. The purpose of this initial design is to act as a proof of concept for the mechanical action of the mechanism; our results demonstrate that passive perching can be achieved through the integration of underactuated gripping with mechanism-generated mechanical advantage.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6094487