Flying robots that can locomote efficiently in GPS-denied cluttered environments have many applications, such as in search and rescue scenarios. However, dealing with the high amount of obstacles inherent to such environments is a major challenge for flying vehicles. Conventional flying platforms cannot afford to collide with obstacles, as the disturbance from the impact may provoke a crash to the ground, especially when friction forces generate torques affecting the attitude of the platform. We propose a concept of resilient flying robots capable of colliding into obstacles without compromising their flight stability. Such platforms present great advantages over existing robots as they are capable of robust flight in cluttered environments without the need for complex sense and avoid strategies or three-dimensional mapping of the environment. We propose a design comprising an inner frame equipped with conventional propulsion and stabilization systems enclosed in a protective cage that can rotate passively thanks to a three-axis gimbal system, which reduces the impact of friction forces on the attitude of the inner frame. After addressing important design considerations thanks to a collision model and validation experiments, we present a proof-of-concept platform, named GimBall, capable of flying in various cluttered environments. Field experiments demonstrate the robot's ability to fly fully autonomously through a forest while experiencing multiple collisions.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Collision-resilient Flying Robot


    Beteiligte:

    Erschienen in:

    Journal of Field Robotics ; 31 , 4 ; 496-509


    Erscheinungsdatum :

    2014


    Format / Umfang :

    14 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    COLLISION RESILIENT ROBOT AND AERIAL VEHICLE

    KARYDIS KONSTANTINOS / LIU ZHICHAO / LU ZHOUYU | Europäisches Patentamt | 2022

    Freier Zugriff

    Anti-collision buffering wall-attaching flying robot

    LIU XINGCHAO / YANG DAWEI / JU CHEN | Europäisches Patentamt | 2022

    Freier Zugriff

    PROPELLER GUARD, FLYING BODY, AND RESILIENT MECHANISM

    UCHIBORI DAISUKE / HAMANO YUJIN / WATANABE KAZUAKI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    PROPELLER GUARD, FLYING BODY, AND RESILIENT MEMBER

    UCHIBORI DAISUKE / HAMANO YUJIN / WATANABE KAZUAKI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    FLYING ROBOT CONTROL SYSTEM AND FLYING ROBOT

    KAMIYAMA KEN / AOKI FUMIO / HAZEKAWA HISASHI | Europäisches Patentamt | 2016

    Freier Zugriff