Micro Unmanned Aerial Vehicles (MAVs) have been used in a wide range of applications [1, 2, 3]. However, there are few papers addressing high-speed grasping and transportation of pay-loads using MAVs. Drawing inspiration from aerial hunting by birds of prey, we design and equip a quadrotor MAV with an actuated appendage enabling grasping and object retrieval at high speeds. We develop a nonlinear dynamic model of the system, demonstrate that the system is differentially flat, plan dynamic trajectories using the flatness property, and present experimental results with pick-up velocities at 2 m/s (6 body lengths / second) and 3 m/s (9 body lengths / second). Finally, the experimental results are compared with observations derived from video footage of a bald eagle swooping down and snatching a fish out of water.
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ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 4–7, 2013
Portland, Oregon, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5593-5
PROCEEDINGS PAPER
Avian-Inspired Grasping for Quadrotor Micro UAVs
Justin Thomas,
Justin Thomas
University of Pennsylvania, Philadelphia, PA
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Joe Polin,
Joe Polin
University of Pennsylvania, Philadelphia, PA
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Koushil Sreenath,
Koushil Sreenath
University of Pennsylvania, Philadelphia, PA
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Vijay Kumar
Vijay Kumar
University of Pennsylvania, Philadelphia, PA
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Justin Thomas
University of Pennsylvania, Philadelphia, PA
Joe Polin
University of Pennsylvania, Philadelphia, PA
Koushil Sreenath
University of Pennsylvania, Philadelphia, PA
Vijay Kumar
University of Pennsylvania, Philadelphia, PA
Paper No:
DETC2013-13289, V06AT07A014; 9 pages
Published Online:
February 12, 2014
Citation
Thomas, J, Polin, J, Sreenath, K, & Kumar, V. "Avian-Inspired Grasping for Quadrotor Micro UAVs." Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6A: 37th Mechanisms and Robotics Conference. Portland, Oregon, USA. August 4–7, 2013. V06AT07A014. ASME. https://doi.org/10.1115/DETC2013-13289
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