羽ばたき翼ロボットの枝止まり実験手法
Experimental method for perching flapping-wing aerial robots
大型羽ばたき翼ロボットが枝に自動で止まるための実験系を構築し、700gの機体で世界初の自律的な止まり飛行を実証した。
著者: Raphael Zufferey, Daniel Feliu-Talegon, Saeed Rafee Nekoo, Jose-Angel Acosta, Anibal Ollero
分類: cs.RO
原文アブストラクト
In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination of forward flight, limited payload, and flight oscillations imposes challenging conditions for localized perching. The described method details the different operations that are concurrently performed within the 4 second perching flight. We validate this experiment with a 700 g ornithopter and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.
