How ornithopters can perch autonomously on a branch.

Animals Flight, Animal Wings, Animal Perches Equipment Design Models, Biological Birds Biomechanical Phenomena

Journal

Nature communications
ISSN: 2041-1723
Titre abrégé: Nat Commun
Pays: England
ID NLM: 101528555

Informations de publication

Date de publication:
13 12 2022
Historique:
received: 18 07 2022
accepted: 29 11 2022
entrez: 13 12 2022
pubmed: 14 12 2022
medline: 16 12 2022
Statut: epublish

Résumé

Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight. In this paper, we present a process to autonomously land an ornithopter on a branch. This method describes the joint operation of a pitch-yaw-altitude flapping flight controller, an optical close-range correction system and a bistable claw appendage design that can grasp a branch within 25 milliseconds and re-open. We validate this method with a 700 g robot and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.

Identifiants

DOI: 10.1038/s41467-022-35356-5 PMID: 36513661 PMC: PMC9747916
pubmed: 36513661
doi: 10.1038/s41467-022-35356-5
pii: 10.1038/s41467-022-35356-5
pmc: PMC9747916
doi:

Types de publication

Journal Article Research Support, Non-U.S. Gov't

Langues

eng

Sous-ensembles de citation

IM

Pagination

7713

Informations de copyright

© 2022. The Author(s).

Références

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pubmed: 27199427
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pubmed: 22617112
Adv Mater. 2018 May 7;:e1707035
pubmed: 29736928
Nature. 2022 Jul;607(7917):91-96
pubmed: 35768508
Sci Robot. 2019 Mar 13;4(28):
pubmed: 33137744
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pubmed: 28163884
Elife. 2019 Aug 06;8:
pubmed: 31385573
Sci Robot. 2021 Dec;6(61):eabj7562
pubmed: 34851710

Auteurs

Raphael Zufferey (R)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain. raph.zufferey@gmail.com.
Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland. raph.zufferey@gmail.com.
ORCID: 0000-0002-8722-6664

Jesus Tormo-Barbero (J)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain.

Daniel Feliu-Talegón (D)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain.
ORCID: 0000-0003-1206-0644

Saeed Rafee Nekoo (SR)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain.
ORCID: 0000-0003-1396-5082

José Ángel Acosta (JÁ)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain.
ORCID: 0000-0003-0040-338X

Anibal Ollero (A)

GRVC Robotics Lab., Departamento de Ingeniería de Sistemas y Automática Escuela Técnica Superior de Ingeniería, University of Seville, Seville, Spain.
ORCID: 0000-0003-2155-2472

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Classifications MeSH

questionsmedicales.fr › Eucaryotes › Animaux › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Phénomènes physiologiques de l'appareil locomoteur et du système nerveux › Phénomènes physiologiques du système locomoteur › Mouvement › Activité motrice › Vol animal › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Structures anatomiques de l'animal › Membre thoracique › Ailes d'animaux › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Eucaryotes › Animaux › Chordés › Vertébrés › Poissons › Perciformes › Perches › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Techniques d'investigation › Conception d'appareillage › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Techniques d'investigation › Modèles théoriques › Modèles biologiques › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Eucaryotes › Animaux › Chordés › Vertébrés › Oiseaux › How ornithopters can perch autonomously on a branch.
questionsmedicales.fr › Phénomènes physiques › Phénomènes mécaniques › Phénomènes biomécaniques › How ornithopters can perch autonomously on a branch.