Abstract
In this study, a bioinspired multi-finger robot system (MFRS) is designed based on the characteristics of eagle claws. The MFRS is attached to a rotary-wing unmanned aerial vehicle (RUAV), which can be enabled to land on uneven terrain. In addition, the robot can also grab target objects or perch on a cylinder. The finger of the robot can simultaneously rotate three revolute joints only relying on one motor, to achieve an action similar to the grip of the eagle claw. The hardware structure and control system architecture of the MFRS are established. Based on depth vision, an adaptive landing algorithm that can achieve real-time optimal landing point selection is proposed. The outdoor experiments show that the robot can effectively land the RUAV on the slopes, steps, and unstructured terrains.
| Original language | English |
|---|---|
| Article number | 103878 |
| Journal | Robotics and Autonomous Systems |
| Volume | 146 |
| DOIs | |
| Publication status | Published - Dec 2021 |
| Externally published | Yes |
Keywords
- Adaptive landing
- Bioinspired design
- Multi-finger robot system
- Rotary-wing UAV
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- General Mathematics
- Computer Science Applications