The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces
Abstract
Perching can extend the useful mission life of a micro air vehicle. Once perched, climbing allows it to reposition precisely, with low power draw and without regard for weather conditions. We present the Stanford Climbing and Aerial Maneuvering Platform, which is to our knowledge the first robot capable of flying, perching with passive technology on outdoor surfaces, climbing, and taking off again. We present the mechanical design and the new perching, climbing, and takeoff strategies that allow us to perform these tasks on surfaces such as concrete and stucco, without the aid of a motion capture system or off-board computation. We further discuss two new capabilities uniquely available to a hybrid aerial-scansorial robot: the ability to recover gracefully from climbing failures and the ability to increase usable foothold density through the application of aerodynamic forces. We also measure real power consumption for climbing, flying, and monitoring and discuss how future platforms could be improved for longer mission life.
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Citations
Cites
Wing-assisted incline running and the evolution of flight.
Dial, K. P. (2003) · Science · doi:10.1126/science.1078237 · Cited by 236 · cited 1×
“birds that use wings to run up vertical surfaces [24] and robotic platforms that use thrust to increase frictional forces for climbing [25].”
Background
Cited by
The current state and future outlook of rescue robotics
Delmerico, J., Mintchev, S., Giusti, A., Gromov, B., Melo, K., Horvat, T., Cadena, C., Hutter, M., Ijspeert, A., Floreano, D., et al. (2019) · Journal of Field Robotics · doi:10.1002/rob.21887 · Cited by 371
Recent Advances in Unmanned Aerial Vehicles: A Review
Ahmed, F., Mohanta, J. C., Keshari, A., & Yadav, P. S. (2022) · Arabian Journal for Science and Engineering · doi:10.1007/s13369-022-06738-0 · Cited by 328
Metadata
- Authors
- Pope, M. T., Kimes, C. W., Jiang, H., Hawkes, E. W., Estrada, M. A., Kerst, C. F., Roderick, W. R. T., Han, A. K., Christensen, D. L., & Cutkosky, M. R.
- Venue
- IEEE Transactions on Robotics
- Published
- 2017-02
- Volume
- 33
- Issue
- 1
- Pages
- 38-48
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2561418509
- Cited by
- 164
- References
- 1
- FWCI
- 5.93
- Type
- journal article
- Language
- en
- Open access
- closed
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- Pope, M. T., Kimes, C. W., Jiang, H., Hawkes, E. W., Estrada, M. A., Kerst, C. F., Roderick, W. R. T., Han, A. K., Christensen, D. L., & Cutkosky, M. R. (2017). A Multimodal Robot for Perching and Climbing on Vertical Outdoor Surfaces. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2016.2623346
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
