Planning and control of aggressive maneuvers for perching on inclined and vertical surfaces

Justin Thomas, Giuseppe Loianno, Morgan Pope, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky, Vijay Kumar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.

Original languageEnglish (US)
Title of host publication39th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791857144
DOIs
StatePublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5C-2015

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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    Thomas, J., Loianno, G., Pope, M., Hawkes, E. W., Estrada, M. A., Jiang, H., Cutkosky, M. R., & Kumar, V. (2015). Planning and control of aggressive maneuvers for perching on inclined and vertical surfaces. In 39th Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5C-2015). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2015-47710