000265876 001__ 265876
000265876 005__ 20190812204801.0
000265876 0247_ $$2doi$$a10.1109/IROS.2018.8594062
000265876 037__ $$aCONF
000265876 245__ $$aAn Adaptive Landing Gear for Extending the Operational Range of Helicopters
000265876 260__ $$bIEEE$$c2019-01-07
000265876 269__ $$a2019-01-07
000265876 336__ $$aConference Papers
000265876 520__ $$aConventional skid or wheel based helicopter landing gears severely limit off-field landing possibilities, which are crucial when operating in scenarios such as mountain rescue. In this context, slopes beyond 8° and small obstacles can already pose a substantial hazard. An adaptive landing gear is proposed to overcome these limitations. It consists of four legs with one degree of freedom each. The total weight was minimized to demonstrate economic practicability. This was achieved by an innovative actuation, composed of a parallel arrangement of motor and brake, which relieves the motor from large impact loads during hard landings. The loads are alleviated by a spring-damper system acting in series to the actuation. Each leg is individually force controlled for optimal load distribution on compliant ground and to avoid tipping. The operation of the legs is fully autonomous during the landing phase. A prototype was designed and successfully tested on an unmanned helicopter with a maximum take-off weight of 78 kg. Finally, the implementation of the landing gear concept on aircraft of various scales was discussed.
000265876 6531_ $$aLegged locomotion
000265876 6531_ $$aGears
000265876 6531_ $$aHelicopters
000265876 6531_ $$aFoot
000265876 6531_ $$aBrakes
000265876 6531_ $$aRotors
000265876 6531_ $$aDamping
000265876 700__ $$aStolz, Boris
000265876 700__ $$aBrodermann, Tim
000265876 700__ $$aCastiello, Enea
000265876 700__ $$aEnglberger, Gokula
000265876 700__ $$aErne, Daniel
000265876 700__ $$aGasser, Jan
000265876 700__ $$aHayoz, Eric
000265876 700__ $$aMuller, Stephan
000265876 700__ $$aMuhlebach, Lorin
000265876 700__ $$aLow, Tobias
000265876 700__ $$aScheuer, Dominique
000265876 700__ $$aVandeventer, Luca
000265876 700__ $$aBjelonic, Marko
000265876 700__ $$aGunther, Fabian
000265876 700__ $$aKolvenbach, Hendrik
000265876 700__ $$aHopflinger, Mark
000265876 700__ $$aHutter, Marco
000265876 7112_ $$a2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)$$cMadrid, Spain$$dOctober 1-5, 2018
000265876 773__ $$t2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)$$q1757-1763
000265876 8560_ $$falain.borel@epfl.ch
000265876 909C0 $$mana.caldas@epfl.ch$$0252409$$zMarselli, Béatrice$$xU12367$$pNCCR-ROBOTICS
000265876 909CO $$pconf$$ooai:infoscience.epfl.ch:265876
000265876 960__ $$aana.caldas@epfl.ch
000265876 961__ $$afantin.reichler@epfl.ch
000265876 973__ $$rREVIEWED$$aOTHER
000265876 980__ $$aCONF
000265876 981__ $$aoverwrite