SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems

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Title: SpiderMAV: Perching and stabilizing micro aerial vehicles with bio-inspired tensile anchoring systems
Authors: Zhang, K
Chermprayong, P
Alhinai, TM
Siddall, R
Kovac, M
Item Type: Conference Paper
Abstract: Whilst Micro Aerial Vehicles (MAVs) possess a variety of promising capabilities, their high energy consumption severely limits applications where flight endurance is of high importance. Reducing energy usage is one of the main challenges in advancing aerial robot utility. To address this bottleneck in the development of unmanned aerial vehicle applications, this work proposes an bioinspired mechanical approach and develops an aerial robotic system for greater endurance enabled by low power station-keeping. The aerial robotic system consists of an multirotor MAV and anchoring modules capable of launching multiple tensile anchors to fixed structures in its operating envelope. The resulting tensile perch is capable of providing a mechanically stabilized mode for high accuracy operation in 3D workspace. We explore generalised geometric and static modelling of the stabilisation concept using screw theory. Following the analytical modelling of the integrated robotic system, the tensile anchoring modules employing high pressure gas actuation are designed, prototyped and then integrated to a quadrotor platform. The presented design is validated with experimental tests, demonstrating the stabilization capability even in a windy environment.
Issue Date: 14-Dec-2017
Date of Acceptance: 24-Sep-2017
URI: http://hdl.handle.net/10044/1/57495
DOI: https://dx.doi.org/10.1109/IROS.2017.8206606
ISBN: 9781538626825
ISSN: 2153-0858
Publisher: IEEE
Start Page: 6849
End Page: 6854
Journal / Book Title: IEEE International Conference on Intelligent Robots and Systems
Copyright Statement: © 2017 IEEE
Sponsor/Funder: Engineering & Physical Science Research Council (EPSRC)
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (E
Funder's Grant Number: EP/N018494/1
EP/R511547/1
EP/R026173/1
Conference Name: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publication Status: Published
Start Date: 2017-09-24
Finish Date: 2017-09-28
Conference Place: Vancouver, BC, Canada
Appears in Collections:Faculty of Engineering
Aeronautics



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