000183442 001__ 183442
000183442 005__ 20190812205652.0
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__ $$0245479$$g175472$$aDaler, Ludovic
000183442 700__ $$0243226$$g167695$$aKlaptocz, Adam
000183442 700__ $$0243231$$g166588$$aBriod, Adrien
000183442 700__ $$aSitti, Metin$$g225487$$0(EPFLAUTH)225487
000183442 700__ $$aFloreano, Dario$$g111729$$0240742
000183442 7112_ $$dMay 6-7, 2013$$cKarlsruhe$$aICRA 13
000183442 8564_ $$zURL$$uhttp://lis.epfl.ch/airburr
000183442 8564_ $$zURL$$uhttp://lis.epfl.ch/DALER
000183442 8564_ $$zPublisher's version$$yPublisher's version$$uhttps://infoscience.epfl.ch/record/183442/files/A%20Perching%20Mechanism%20for%20Flying%20Robots%20Using%20a%20Fibre-Based%20Adhesive.pdf$$s2908005
000183442 8564_ $$zn/a$$uhttps://infoscience.epfl.ch/record/183442/files/Perching_%28720p%29.mp4$$s16057484
000183442 909C0 $$xU10370$$pLIS$$0252161
000183442 909C0 $$0252409$$xU12367$$pNCCR-ROBOTICS
000183442 909CO $$qGLOBAL_SET$$pconf$$pSTI$$ooai:infoscience.tind.io:183442
000183442 917Z8 $$x175472
000183442 917Z8 $$x175472
000183442 917Z8 $$x166588
000183442 917Z8 $$x255330
000183442 937__ $$aEPFL-CONF-183442
000183442 973__ $$rREVIEWED$$sPUBLISHED$$aEPFL
000183442 980__ $$aCONF