000257997 001__ 257997
000257997 005__ 20190317001038.0
000257997 0247_ $$2doi$$a10.1126/scirobotics.aau6903
000257997 02470 $$a10.1126/scirobotics.aau6903$$2DOI
000257997 037__ $$aARTICLE
000257997 245__ $$aForceful manipulation with micro air vehicles
000257997 260__ $$c2018
000257997 269__ $$a2018
000257997 336__ $$aJournal Articles
000257997 520__ $$aMicro air vehicles (MAVs) are finding use across an expanding range of applications. However, when interacting with the environment, they are limited by the maximum thrust they can produce. Here, we describe FlyCroTugs, a class of robots that adds to the mobility of MAVs the capability of forceful tugging up to 40 times their mass while adhering to a surface. This class of MAVs, which finds inspiration in the prey transportation strategy of wasps, exploits controllable adhesion or microspines to firmly adhere to the ground and then uses a winch to pull heavy objects. The combination of flight and adhesion for tugging creates a class of 100-gram multimodal MAVs that can rapidly traverse cluttered three-dimensional terrain and exert forces that affect human-scale environments. We discuss the energetics and scalability of this approach and demonstrate it for lifting a sensor into a partially collapsed building. We also demonstrate a team of two FlyCroTugs equipped with specialized end effectors for rotating a lever handle and opening a heavy door.
000257997 6531_ $$aAerial
000257997 6531_ $$aDirectional adhesive
000257997 6531_ $$aUAV
000257997 6531_ $$aAerial Robotics
000257997 6531_ $$aBioinspired robotics
000257997 700__ $$aEstrada, Matthew A.
000257997 700__ $$aMintchev, Stefano
000257997 700__ $$aChristensen, David L.
000257997 700__ $$aCutkosky, Mark R.
000257997 700__ $$aFloreano, Dario
000257997 773__ $$tScience Robotics$$j3$$k23$$qeaau6903
000257997 8560_ $$fdario.floreano@epfl.ch
000257997 85641 $$yhttp://robotics.sciencemag.org/cgi/content/summary/3/23/eaau6903?ijkey=uXEHIK/39maHs&keytype=ref&siteid=robotics$$uSummary
000257997 85641 $$yhttp://robotics.sciencemag.org/cgi/content/abstract/3/23/eaau6903?ijkey=uXEHIK/39maHs&keytype=ref&siteid=robotics$$uAbstract
000257997 85641 $$yhttp://robotics.sciencemag.org?ijkey=uXEHIK/39maHs&keytype=ref&siteid=robotics$$uTOC
000257997 85641 $$yhttp://robotics.sciencemag.org/cgi/content/full/3/23/eaau6903?ijkey=uXEHIK/39maHs&keytype=ref&siteid=robotics$$uFull Text
000257997 909C0 $$pLIS$$xU10370$$mdario.floreano@epfl.ch$$yApproved$$0252161
000257997 909CO $$qGLOBAL_SET$$pSTI$$particle$$ooai:infoscience.epfl.ch:257997
000257997 960__ $$astefano.mintchev@epfl.ch
000257997 961__ $$afantin.reichler@epfl.ch
000257997 973__ $$aEPFL$$sPUBLISHED$$rREVIEWED
000257997 980__ $$aARTICLE
000257997 981__ $$aoverwrite