000183442 001__ 183442
000183442 005__ 20190316235547.0
000183442 037__ $$aCONF
000183442 245__ $$aA Perching Mechanism for Flying Robots Using a Fibre-Based Adhesive
000183442 269__ $$a2013
000183442 260__ $$c2013
000183442 336__ $$aConference Papers
000183442 520__ $$aRobots capable of hover flight in constrained indoor environments have many applications, however their range is constrained by the high energetic cost of airborne locomotion. Perching allows flying robots to scan their environment without the need to remain aloft. This paper presents the design of a mechanism that allows indoor flying robots to attach to vertical surfaces. To date, solutions that enable flying robot with perching capabilities either require high precision control of the dynamics of the robot or a mechanism robust to high energy impacts. We propose in this article a perching mechanism comprising a compliant deployable pad and a passive self-alignment system, that does not require any active control during the attachment procedure. More specifically, a perching mechanism using fibre-based dry adhesives was implemented on a 300~g flying platform. An adhesive pad was first modeled and optimized in shape for maximum attachment force at the low pre-load forces inherent to hovering platforms. It was then mounted on a deployable mechanism that stays within the structure of the robot during flight and can be deployed when a perching maneuver is initiated. Finally, the perching mechanism is integrated onto a real flying robot and successful perching maneuvers are demonstrated as a proof of concept.
000183442 6531_ $$aDALER
000183442 6531_ $$aAirBurr
000183442 6531_ $$aAerial Robotics
000183442 6531_ $$aSoft Robotics
000183442 700__ $$0245479$$aDaler, Ludovic$$g175472
000183442 700__ $$0243226$$aKlaptocz, Adam$$g167695
000183442 700__ $$0243231$$aBriod, Adrien$$g166588
000183442 700__ $$0(EPFLAUTH)225487$$aSitti, Metin$$g225487
000183442 700__ $$0240742$$aFloreano, Dario$$g111729
000183442 7112_ $$aICRA 13$$cKarlsruhe$$dMay 6-7, 2013
000183442 8564_ $$uhttp://lis.epfl.ch/airburr$$zURL
000183442 8564_ $$uhttp://lis.epfl.ch/DALER$$zURL
000183442 8564_ $$s2908005$$uhttps://infoscience.epfl.ch/record/183442/files/A%20Perching%20Mechanism%20for%20Flying%20Robots%20Using%20a%20Fibre-Based%20Adhesive.pdf$$yPublisher's version$$zPublisher's version
000183442 8564_ $$s16057484$$uhttps://infoscience.epfl.ch/record/183442/files/Perching_%28720p%29.mp4$$zn/a
000183442 909C0 $$0252161$$pLIS$$xU10370
000183442 909C0 $$0252409$$pNCCR-ROBOTICS$$xU12367
000183442 909CO $$ooai:infoscience.tind.io:183442$$pconf$$pSTI$$qGLOBAL_SET
000183442 917Z8 $$x175472
000183442 917Z8 $$x175472
000183442 917Z8 $$x166588
000183442 917Z8 $$x255330
000183442 937__ $$aEPFL-CONF-183442
000183442 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000183442 980__ $$aCONF