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How ornithopters can perch autonomously on a branch

Author

Listed:
  • Raphael Zufferey

    (University of Seville
    Ecole Polytechnique Fédérale de Lausanne (EPFL))

  • Jesus Tormo-Barbero

    (University of Seville)

  • Daniel Feliu-Talegón

    (University of Seville)

  • Saeed Rafee Nekoo

    (University of Seville)

  • José Ángel Acosta

    (University of Seville)

  • Anibal Ollero

    (University of Seville)

Abstract

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.

Suggested Citation

  • Raphael Zufferey & Jesus Tormo-Barbero & Daniel Feliu-Talegón & Saeed Rafee Nekoo & José Ángel Acosta & Anibal Ollero, 2022. "How ornithopters can perch autonomously on a branch," Nature Communications, Nature, vol. 13(1), pages 1-11, December.
    • Handle: RePEc:nat:natcom:v:13:y:2022:i:1:d:10.1038_s41467-022-35356-5
    DOI: 10.1038/s41467-022-35356-5
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    References listed on IDEAS

    as
    1. Marco KleinHeerenbrink & Lydia A. France & Caroline H. Brighton & Graham K. Taylor, 2022. "Optimization of avian perching manoeuvres," Nature, Nature, vol. 607(7917), pages 91-96, July.
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    Cited by:

    1. Valentin Wüest & Simon Jeger & Mir Feroskhan & Enrico Ajanic & Fabio Bergonti & Dario Floreano, 2024. "Agile perching maneuvers in birds and morphing-wing drones," Nature Communications, Nature, vol. 15(1), pages 1-10, December.

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    1. Valentin Wüest & Simon Jeger & Mir Feroskhan & Enrico Ajanic & Fabio Bergonti & Dario Floreano, 2024. "Agile perching maneuvers in birds and morphing-wing drones," Nature Communications, Nature, vol. 15(1), pages 1-10, December.

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