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How to Swoop and Grasp Like a Bird With a Passive Claw for a High-Speed Grasping

Publication date:

  • 31 January 2022

Authors:

William Stewart
Enrico Ajanic
Matthias Müller
Dario Floreano

Abstract

There is a growing interest in unmanned aerial vehicles (UAVs) grasping, perching, and interacting with their surroundings by means of claws, arms, hooks, and other appendages. While multirotor vehicles can slowly lower onto a target object and grasp it, winged UAVs require a minimum speed to remain airborne and cannot hover. In this article, we describe a novel avian-inspired grasping mechanism that allows winged UAVs to grasp an object while flying over it. We have developed a high-speed, passively triggered claw that can close in under half a second. We characterize the loads encountered by the vehicle during the grasp event and find that grasping an object of about 30 g produces a maximum load of less than 12 N. Numerical experiments indicate that these loads cause a change in pitch of less than 1  ∘ and a decrease in speed of about 0.3 m/s for a fixed-wing vehicle of about 1 kg, and are thus negligible. We demonstrate outdoor in-flight grasping at 8 m/s, the fastest recorded grasping by a flying robot to date to best of our knowledge.

Reference
Doi: 10.1109/TMECH.2022.3143095
Published in: IEEE/ASME Transactions on Mechatronics,
 Pages 1-9
Read the paper
Version: Published
Access: Open Access
Download
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