Design of the High-Payload Flapping Wing Robot E-Flap

Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying robots around humans and in complex environments. The absence of propellers makes such vehicles more resistant to physical contact, permitting flight in cluttered environments, a...

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Authors: Zufferey, Raphael, Tormo Barbero, Jesús, Mar Guzmán, M., Maldonado, F.J., Sánchez Laulhe, Ernesto, Grau, Pedro, Pérez, Martín, Acosta, José Ángel, Ollero Baturone, Aníbal
Format: article
Status:Versión enviada para evaluación y publicación
Publication Date:2021
Country:España
Institution:Universidad de Sevilla (US)
Repository:idUS. Depósito de Investigación de la Universidad de Sevilla
OAI Identifier:oai:idus.us.es:11441/137567
Online Access:https://hdl.handle.net/11441/137567
https://doi.org/10.1109/LRA.2021.3061373
Access Level:Open access
Keyword:Flapping-wing flight
Payload-capable
Prototype design
Unmanned autonomous vehicles
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spelling Design of the High-Payload Flapping Wing Robot E-FlapZufferey, RaphaelTormo Barbero, JesúsMar Guzmán, M.Maldonado, F.J.Sánchez Laulhe, ErnestoGrau, PedroPérez, MartínAcosta, José ÁngelOllero Baturone, AníbalFlapping-wing flightPayload-capablePrototype designUnmanned autonomous vehiclesAutonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying robots around humans and in complex environments. The absence of propellers makes such vehicles more resistant to physical contact, permitting flight in cluttered environments, and collaborating with humans. Importantly, the provision of thousands of species of birds that have already mastered the challenging task of flapping flight is a rich source of solutions. However, small wing flapping technology is still in its beginnings, with limited levels of autonomy and physical interaction capability with the environment. One significant limitation to this is the low payload available. Here we show the Eagle-inspired Flapping-wing robot E-Flap, a 510 g novel design capable of a 100% of payload, exceeding the requirement of the computing and sensing package needed to fly with a high degree of autonomy. The concept is extensively characterized, both in a tracked indoor space and in outdoor conditions. We demonstrate flight path angle of up to 50° and velocities from as low as 2 m/s to over 6 m/s. Overall, the robotic platform has been proven to be reliable, having performed over 100 flights. Through mechanical and electronics advances, the E-Flap is a robust vehicle prototype and paves the way towards flapping-wing robots becoming a practical fully autonomous flying solution.Consejo Europeo de Investigación 788247Ingeniería de Sistemas y AutomáticaEuropean Research Council (ERC)2021info:eu-repo/semantics/articleinfo:eu-repo/semantics/submittedVersionapplication/pdfapplication/pdfhttps://hdl.handle.net/11441/137567https://doi.org/10.1109/LRA.2021.3061373reponame:idUS. Depósito de Investigación de la Universidad de Sevillainstname:Universidad de Sevilla (US)InglésIEEE Robotics and Automation Letters, 6 (2), 3097-3104.788247info:eu-repo/semantics/openAccessoai:idus.us.es:11441/1375672026-06-17T12:51:07Z
dc.title.none.fl_str_mv Design of the High-Payload Flapping Wing Robot E-Flap
title Design of the High-Payload Flapping Wing Robot E-Flap
spellingShingle Design of the High-Payload Flapping Wing Robot E-Flap
Zufferey, Raphael
Flapping-wing flight
Payload-capable
Prototype design
Unmanned autonomous vehicles
title_short Design of the High-Payload Flapping Wing Robot E-Flap
title_full Design of the High-Payload Flapping Wing Robot E-Flap
title_fullStr Design of the High-Payload Flapping Wing Robot E-Flap
title_full_unstemmed Design of the High-Payload Flapping Wing Robot E-Flap
title_sort Design of the High-Payload Flapping Wing Robot E-Flap
dc.creator.none.fl_str_mv Zufferey, Raphael
Tormo Barbero, Jesús
Mar Guzmán, M.
Maldonado, F.J.
Sánchez Laulhe, Ernesto
Grau, Pedro
Pérez, Martín
Acosta, José Ángel
Ollero Baturone, Aníbal
author Zufferey, Raphael
author_facet Zufferey, Raphael
Tormo Barbero, Jesús
Mar Guzmán, M.
Maldonado, F.J.
Sánchez Laulhe, Ernesto
Grau, Pedro
Pérez, Martín
Acosta, José Ángel
Ollero Baturone, Aníbal
author_role author
author2 Tormo Barbero, Jesús
Mar Guzmán, M.
Maldonado, F.J.
Sánchez Laulhe, Ernesto
Grau, Pedro
Pérez, Martín
Acosta, José Ángel
Ollero Baturone, Aníbal
author2_role author
author
author
author
author
author
author
author
dc.contributor.none.fl_str_mv Ingeniería de Sistemas y Automática
European Research Council (ERC)
dc.subject.none.fl_str_mv Flapping-wing flight
Payload-capable
Prototype design
Unmanned autonomous vehicles
topic Flapping-wing flight
Payload-capable
Prototype design
Unmanned autonomous vehicles
description Autonomous lightweight flapping-wing robots show potential to become a safe and affordable solution for rapidly deploying robots around humans and in complex environments. The absence of propellers makes such vehicles more resistant to physical contact, permitting flight in cluttered environments, and collaborating with humans. Importantly, the provision of thousands of species of birds that have already mastered the challenging task of flapping flight is a rich source of solutions. However, small wing flapping technology is still in its beginnings, with limited levels of autonomy and physical interaction capability with the environment. One significant limitation to this is the low payload available. Here we show the Eagle-inspired Flapping-wing robot E-Flap, a 510 g novel design capable of a 100% of payload, exceeding the requirement of the computing and sensing package needed to fly with a high degree of autonomy. The concept is extensively characterized, both in a tracked indoor space and in outdoor conditions. We demonstrate flight path angle of up to 50° and velocities from as low as 2 m/s to over 6 m/s. Overall, the robotic platform has been proven to be reliable, having performed over 100 flights. Through mechanical and electronics advances, the E-Flap is a robust vehicle prototype and paves the way towards flapping-wing robots becoming a practical fully autonomous flying solution.
publishDate 2021
dc.date.none.fl_str_mv 2021
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv https://hdl.handle.net/11441/137567
https://doi.org/10.1109/LRA.2021.3061373
url https://hdl.handle.net/11441/137567
https://doi.org/10.1109/LRA.2021.3061373
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv IEEE Robotics and Automation Letters, 6 (2), 3097-3104.
788247
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.source.none.fl_str_mv reponame:idUS. Depósito de Investigación de la Universidad de Sevilla
instname:Universidad de Sevilla (US)
instname_str Universidad de Sevilla (US)
reponame_str idUS. Depósito de Investigación de la Universidad de Sevilla
collection idUS. Depósito de Investigación de la Universidad de Sevilla
repository.name.fl_str_mv
repository.mail.fl_str_mv
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