A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles
Wanchao Chi*, Kin Huat Low*, Kay Hiang Hoon*,
Johnson Tang**, and Tiauw Hiong Go*
*School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
**Defence Science Organization, Singapore
Endurance is the critical problem that most Unmanned Aerial Vehicles (UAVs) will definitely encounter. By learning frombirds in nature that perch to reserve energy, however, this problem could probably be solved. The purposes of this paper are to gain inspiration from bird’s perching in a more systematic way, to further propose a design of bio-inspired adaptive perching mechanism, and to investigate its functionality and reliability in applications. Principles are first derived from anatomy analysis of perching birds as a guide. The perching sequence of a UAV is then generalized into 3 stages, namely pre-perching, perching and de-perching. Design specifications are presented, reliability experiments are performed and results are analyzed.
Johnson Tang, and Tiauw Hiong Go, “A Bio-Inspired Adaptive Perching Mechanism for Unmanned Aerial Vehicles,” J. Robot. Mechatron., Vol.24, No.4, pp. 642-648, 2012.
-  R. Dudley, “The Biomechanics of Insect Flight,” Princeton University Press, Princeton, NJ, 2000.
-  M. L. Anderson, C. J. Perry, B.M. Hua et al., “The Sticky-Pad Plane and other Innovative Concepts for Perching UAVs,” 47th AIAA Aerospace Sciences Meeting Including The New Horizons Forum and Aerospace Exposition, January 2009, Orlando, USA, 2009.
-  M. Kovač, J. Germann, C. Hüurzeler, R. Y. Siegwart, and D. Floreano, “A Perching Mechanism for Micro Aerial Vehicles,” J. of Micro-Nano Mechatronics, Vol.5, No.3, p. 77, 2010.
-  A. L. Desbiens and M. R. Cutkosky, “Landing and Perching on Vertical Surfaces with Microspines for Small Unmanned Air Vehicles,” J. of Intelligent Robot System, Vol.57, pp. 313-327, 2010.
-  A. L. Desbiens, A. Asbeck, S. Dastoor, and M. Cutkosky, “Hybrid Aerial and Scansorial Robotics,” 2010 IEEE Int. Conf. on Robotics and Automation, pp. 1114-1115, 2010.
-  C. E. Doyle, J. J. Bird, T. A. Isom et al., “Avian-Inspired Passive Perching Mechanism for Robotic Rotorcraft,” 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, September 2011, San Francisco, USA, 2011.
-  P. M. Galton and J. D. Shepherd, “Experimental analysis of perching in the European starling (Sturnus vulgaris: Passeriformes; passeres), and the automatic perching mechanism of birds,” J. of Experimental Zoology, Vol.317, pp. 205-215, 2012.
-  T. H. Quinn and J. J. Baumel, “The digital tendon locking mechanism of the avian foot (Aves),” Zoomorphology, Vol.109, pp. 281-293, 1990.
-  T. H. Quinn and J. J. Baumel, “Chiropteran Tendon Locking Mechanism,” J. of Morphology, Vol.216, pp. 197-208, 1993.
-  N. S. Proctor and P. J. Lynch, “Manual of Ornithology: Avian Structure and Function,” Yale University Press, New Haven, 1993.
-  K. Nagata, F. Saito, and T. Suehiro, “Development of the Master Hand for Grasping Information Capturing,” J. of Robotics and Mechatronics, Vol.20, No.1, pp. 18-23, 2008.
-  S. Ueki, H. Kawasaki, and T.Mouri, “Adaptive Coordinated Control of Multi-Fingered Robot Hand,” J. of Robotics and Mechatronics, Vol.21, No.1, pp. 36-43, 2009.
-  T. Tsuji, K. Harada, K. Kaneko, F. Kanehiro, and K. Maruyama, “Grasp Planning for a Multifingered Hand with a Humanoid Robot,” J. of Robotics and Mechatronics, Vol.22, No.2, pp. 230-238, 2010.
-  R. A. Norberg, “Why foraging birds in trees should climb and hop upwards rather than downwards,” Ibis, Vol.123, pp. 281-288, 1981.
-  A. V. Pike and D. P. Maitland, “Scaling of bird claws,” J. Zool., Vol.262, pp. 73-81, 2004.
-  D. W. Fowler, E. A. Freedman, and J. B. Scannella, “Predatory Functional Morphology in Raptors: Interdigital Variation in Talon Size Is Related to Prey Restraint and Immobilisation Technique,” Plosone, Vol.4, No.11, pp. 1-9, 2009.
-  F. Inoue, “A Study on Adaptive Arch Structure Applying Variable Geometry Truss (Mechanism of Movable Arch Roof with External Panel),” J. of Robotics and Mechatronics, Vol.21, No.2, pp. 172-178, 2009.
- Supporting Online Materials:
- [a] “E. Britannica,” Bird, [Online], 2011.
- [b] “Unique Views of Nature,” Barn owl in slow motion, [Online], 2012.
Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.