Perching – Robotic Bird Airplane – First Successful – On a Human Hand – MAV – UAV

Perching – Robotic Bird Airplane – First Successful – On a Human Hand – MAV – UAV

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[Perching - Robotic Bird Airplane - First Successful - On a Human Hand - MAV - UAV]

[Jenny Roderick] Source: LYBIO.net
In this video we will demonstrate and Aerial robot with articulated wings developed at the University of Illinois.

Perching on a Hand by an Articulated Wing Robotic Aircraft

Aditya Paranjape, Joseph Kim and Soon-Jo Chung

Aerospace Robotics and Control Laboratory
University of Illinois at Urbana-Champaign

The ability to perform a controlled perched landing on a human hand serves as a hallmark of its maneuvering capabilities. These capabilities are vital to enabling such robots to operate around humans.

[Jenny Roderick] Source: LYBIO.net
A unique feature of our bio-inspired MAV is that it used wing articulation for control. The Dihedral angle of both wings can be varied on demand and independently of each other. In addition, the MAV is equipped with a horizontal tail and trailing edge flaps on the articulated segments of the wing. We used Dynamic Inversion-Based PID controller to command the elevator deflection, the symmetric and anti-symmetric wing dihedral. The elevator deflection is commanded by a feedforward angle of attacks signal.

[Jenny Roderick] Source: LYBIO.net
The symmetric component of the wing Dihedral regulates the air in the flight path angle. The anti-symmetric component of the wing Dihedral is commanded by a two stage controller which stabilizes the lateral directional dynamics and regulates the air-crafts heading. Trailing edge flaps deflected in the symmetric configuration help ensure uniform Yaw control effectiveness across the flight envelope. These controllers were implemented on a aerial robot to demonstrate the capability to perch on a human hand. A typical perching maneuver consists of a gliding phase which brings the aircraft suitable close to the target. Thereafter, it pitches up to a high angle of attack and decelerates rapidly as it perches on the target. A robot lagged a vertical tail which rendered it unstable and led to large deviations from the nominal flight path. The Yaw heading controllers together with the Dihedral based mechanism helped ensure a successful landing even large initial and mid-flight (pergervations). This was the first demonstration of Perching by a directionally unstable aircraft and the first demonstration of perching on the hand that represents a significant step forward and close operational interaction between aerial robot and humans.

Credits

Aditya Paranjape
Joseph Kim
Soon-Jo Chung
Narrated by Jenny Roderick

Aerospace Robotics and Control Lab
University of Illinois at Urbana-Champaign

Perching – Robotic Bird Airplane – First Successful – On a Human Hand – MAV – UAV. Perching by a directionally unstable aircraft and the first demonstration of perching on the hand that represents a significant step forward and close operational interaction between aerial robot and humans. Complete Full Transcript, Dialogue, Remarks, Saying, Quotes, Words And Text.