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research article

Insect Inspired Self-Righting for Fixed-Wing Drones

Vourtsis, Charalampos  
•
Casas, Rochel Victor
•
Serrano, Francisco Ramirez
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July 9, 2021
IEEE Robotics and Automation Letters

Micro Aerial Vehicles (MAVs) are being used in a wide range of applications such as surveillance, reconnaissance, inspection, and search and rescue. However, due to their size and mission profiles, they are prone to tipping over, jeopardizing their operation. Self-righting is an open challenge for fixed-wing drones since existing research focuses on terrestrial and multicopter flying robots with solutions that increase drag and structural weight. Until now, solutions for winged drones remained largely unexplored. Inspired by beetles, we propose a robust and elegant solution where we retrofit a fixed-wing drone with a set of additional wings akin to beetles shell structured wings called elytra. We show that artificial elytra provide additional lift during flight to mitigate their structural weight while also being able to self-right the MAV when it has been flipped over. We performed simulations along with dynamic and aerodynamic experiments to validate our results.

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Type
research article
DOI
10.1109/LRA.2021.3096159
Author(s)
Vourtsis, Charalampos  
Casas, Rochel Victor
Serrano, Francisco Ramirez
Stewart, William John  
Floreano, Dario  
Date Issued

2021-07-09

Published in
IEEE Robotics and Automation Letters
Volume

6

Issue

4

Start page

6805

End page

6812

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
LIS  
FunderGrant Number

H2020

754354

H2020

871479

FNS-NCCR

NCCR

Available on Infoscience
July 28, 2021
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/180222
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