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dc.contributor.authorDu, Shanshan ( )
dc.contributor.authorChen, Heping ( )
dc.contributor.authorLiu, Yong ( Orcid Icon 0000-0003-4098-2339 )
dc.contributor.authorHu, Runting ( )
dc.date.accessioned2020-04-20T13:40:10Z
dc.date.available2020-04-20T13:40:10Z
dc.date.issued2015-08
dc.identifier.citationDu, S., Chen, H., Liu, Y., & Hu, R. (2015). Unified switching between active flying and perching of a bioinspired robot using impedance control. Journal of Robotics, 2015, 763710, pp. 1-11.
dc.identifier.issn1687-9619
dc.identifier.urihttps://digital.library.txstate.edu/handle/10877/9648
dc.description.abstractCurrently, a bottleneck problem for battery-powered microflying robots is time of endurance. Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way. In prior work, we have developed some prototypes of flying and perching robots. However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force. Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment. The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment. Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method. Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.en_US
dc.formatText
dc.format.extent12 pages
dc.format.medium1 file (.pdf)
dc.language.isoen_USen_US
dc.publisherHindawi Publishing Corporationen_US
dc.sourceJournal of Robotics, Vol. 2015, Article ID 763710, pp. 1-11.
dc.subjectMicroflying robots
dc.subjectFlying
dc.subjectPerching
dc.subjectAnimal behavior
dc.subjectImpedance control method
dc.titleUnited Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Controlen_US
txstate.documenttypeArticle
dc.identifier.doihttps://doi.org/10.1155/2015/763710
dc.rights.licenseCopyright © 2015 Shanshan Du et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
txstate.departmentIngram School of Engineering


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