SOPHIE: SOft and flexible aerial vehicle for PHysical Interaction with the Environment

Autor:	Ruiz, Fernando, Arrue, Begona, Ollero, Anibal
Rok vydání:	2022
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.48550/arXiv.2205.12883
Popis:	This paper presents the first design of a soft, 3D-printed in flexible filament, lightweight UAV, capable of performing full-body perching using soft tendons, specifically landing and stabilizing on pipelines and irregular surfaces without the need for an auxiliary system. The flexibility of the UAV can be controlled during the additive manufacturing process by adjusting the infill rate distribution. However, the increase in flexibility implies difficulties in controlling the UAV, as well as structural, aerodynamic, and aeroelastic effects. This article provides insight into the dynamics of the system and validates the flyability of the vehicle for densities as low as 6%. Within this range, quasi-static arm deformations can be considered, thus the autopilot is fed back through a static arm deflection model. At lower densities, strong non-linear elastic dynamics appear, which translates to complex modeling, and it is suggested to switch to data-based approaches. Comment: Submitted to Robotics and Automation Letters
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2205.12883 Zobrazit plný text záznamu View this record from Arxiv