Landing, perching and taking off from vertical surfaces

Authors:
Alexis Lussier Desbiens;Alan T Asbeck;Mark R Cutkosky
Affiliations:
Biomimetic and Dextrous Manipulation Laboratory, Center for Design Research, Stanford University, USA;Biomimetic and Dextrous Manipulation Laboratory, Center for Design Research, Stanford University, USA;Biomimetic and Dextrous Manipulation Laboratory, Center for Design Research, Stanford University, USA
Venue:
International Journal of Robotics Research
Year:
2011

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Abstract

An approach is presented whereby small, unmanned aircraft can land on walls. The approach is demonstrated with a plane that uses an ultrasonic sensor to initiate a pitch-up maneuver as it flies toward a wall. The plane contacts the wall with spines that engage asperities on the surface. A non-linear suspension absorbs the kinetic energy while keeping the spines attached. A planar dynamic model is used to evaluate pitch-up maneuvers and determine suspension parameters that satisfy constraints on the contact forces for a range of flight velocities. Simulations conducted using the model are compared with data obtained using high-speed video and a force plate embedded in a wall.