Integration of aerial and terrestrial locomotion modes in a bioinspired robotic system

In robotics, locomotion is a fundamental task for the development of high-level activities such as navigation. For a robotic system, the challenge of evading environmental obstacles depends both on its physical capabilities and on the strategies followed to achieve it. Thus, a robot with the ability to develop several modes of locomotion (walking, flying or swimming) has a greater probability of success in achieving its goal than a robot that develops only one. In nature, Hymenoptera insects use terrestrial and aerial modes of locomotion to carry out their activities. Mimicry the physical capabilities of these insects opens the possibility of improvements in the area of robotic locomotion. Therefore, this work seeks to generate a bio-inspired robotic system that integrates the terrestrial and aerial modes of locomotion. The methodology used in this research project has considered the anatomical study and characterization of Hymenoptera insects locomotion, the proposal of conceptual models that integrate terrestrial and aerial modes locomotion, the construction of a physical platform and experimental testing of the system. In addition, a gait generation approach based on an artificial nervous system of coupled nonlinear oscillators has been proposed. This approach has resulted in the generation of a coherent and functional gait pattern that, in combination with the flight capabilities of the system, has constituted an aero-terrestrial robot. The results obtained in this work include the construction of a bioinspired physical platform, the generation of the gait process using an artificial nervous system and the experimental tests on the integration of aero-terrestrial locomotion.Conacyt - Becario Naciona

A multi-modal hovering and terrestrial robot with adaptive morphology

Most current drones are designed with a static morphology aimed at exploiting a single locomotion mode. This results in limited versatility and adaptability to multi-domain environments, such as those encountered in rescue missions, agriculture and inspection, where multiple locomotion capabilities could be more effective. For example, hovering and terrestrial locomotion are complementary and can increase versatility by allowing the robot achieve speed and ease of obstacle negotiation during flight, or low power consumption and reduced noise signature while moving on the ground. With this aim, the paper presents the design and characterization of a multi-modal quadcopter with adaptive morphology by means of foldable arms. After landing, the quadcopter folds the frontal arms and uses whegs and tracks to move on the ground. The foldable arms allow to decrease the size of the robot in order to achieve more mobility in confined ground environments; to perform a self-righting maneuver if the drone falls upside down; and to negotiate large gaps by strategically unfolding them during terrestrial locomotion

Energy-Efficient Motion Planning for Multi-Modal Hybrid Locomotion

Hybrid locomotion, which combines multiple modalities of locomotion within a single robot, enables robots to carry out complex tasks in diverse environments. This paper presents a novel method for planning multi-modal locomotion trajectories using approximate dynamic programming. We formulate this problem as a shortest-path search through a state-space graph, where the edge cost is assigned as optimal transport cost along each segment. This cost is approximated from batches of offline trajectory optimizations, which allows the complex effects of vehicle under-actuation and dynamic constraints to be approximately captured in a tractable way. Our method is illustrated on a hybrid double-integrator, an amphibious robot, and a flying-driving drone, showing the practicality of the approach

Adaptive Morphology for Multi-Modal Locomotion

There is a growing interest in using robots in dangerous environments, such as for exploration, search-and-rescue or monitoring applications, in order to reduce the risks for workers or rescuers and to improve their efficiency. Typically, flying robots offer the possibility to quickly explore large areas while ground robots can thoroughly search specific regions of interest. While existing robotic solutions are very promising, they are often limited to specific use cases or environments. This makes them impractical for most missions involving complex or unpredictable scenarios, such as search-and-rescue applications. This limitation comes from the fact that existing robots usually exploit only a single locomotion strategy, which limits their flexibility and adaptability to different environments. In this thesis, a multi-modal locomotion strategy is investigated as a way to increase the versatility of mobile robots. We explore integrated design approaches, where the same actuators and structure are used for different modes of locomotion, which allows a minimization of the weight and complexity of the robot. This strategy is challenging because a single locomotor system must accommodate the potentially conflicting dynamics of multiple modes of locomotion. Herein, we suggest taking inspiration from nature, in particular the common vampire bat \emph{Desmodus rotundus}. The goal being to make multiple modes of locomotion dynamically compatible (i.e. have compatible speeds and torques requirements), by optimizing the morphology of the locomotor system and even by adapting the morphology of the robot to a specific mode of locomotion. It is demonstrated in this thesis that the integrated design approach can be effectively implemented on a multi-modal aerial and terrestrial robot, and that two modes of locomotion can be made dynamically compatible by optimizing the morphology. Furthermore, an adaptive morphology is used to increase the efficiency of the different modes of locomotion. A locomotor system used both for walking on the ground and controlling flight, has been successfully implemented on a multi-modal robot, which further has deployable wings to increase its performances on the ground and in the air. By successfully exploiting the concepts of integrated design and adaptive morphology, this robot is capable of hovering, forward flight and ground locomotion. This robot demonstrates a very high versatility compared to state of the art of mobile robots, while having a low complexity

Challenges in control and autonomy of unmanned aerial-aquatic vehicles

Autonomous aquatic vehicles capable of flight can deploy more rapidly, access remote or constricted areas, overfly obstacles and transition easily between distinct bodies of water. This new class of vehicles can be referred as Unmanned Aerial-Aquatic Vehicles (UAAVs), and is capable of reaching distant locations rapidly, conducting measurements and returning to base. This greatly improves upon current solutions, which often involve integrating different types of vehicles (e.g. vessels releasing underwater vehicles), or rely on manpower (e.g. sensors dropped manually from ships). Thanks to recent research efforts, UAAVs are becoming more sophisticated and robust. Nonetheless numerous challenges remain to be addressed, and particularly dedicated control and sensing solutions are still scarce. This paper discusses challenges and opportunities in UAAV control, sensing and actuation. Following a brief overview of the state of the art, we elaborate on the requirements and challenges for the main types of robots and missions proposed in the literature to date, and highlight existing solutions where available. The concise but wide-ranging overview provided will constitute a useful starting point for researchers undertaking UAAV control work

Aquatic escape for micro-aerial vehicles

As our world is experiencing climate changes, we are in need of better monitoring technologies. Most of our planet is covered with water and robots will need to move in aquatic environments. A mobile robotic platform that possesses efficient locomotion and is capable of operating in diverse scenarios would give us an advantage in data collection that can validate climate models, emergency relief and experimental biological research. This field of application is the driving vector of this robotics research which aims to understand, produce and demonstrate solutions of aerial-aquatic autonomous vehicles. However, small robots face major challenges in operating both in water and in air, as well as transition between those fluids, mainly due to the difference of density of the media. This thesis presents the developments of new aquatic locomotion strategies at small scales that further enlarge the operational domain of conventional platforms. This comprises flight, shallow water locomotion and the transition in-between. Their operating principles, manufacturing methods and control methods are discussed and evaluated in detail. I present multiple unique aerial-aquatic robots with various water escape mechanisms, spanning over different scales. The five robotic platforms showcased share similarities that are compared. The take-off methods are analysed carefully and the underlying physics principles put into light. While all presented research fulfils a similar locomotion objective - i.e aerial and aquatic motion - their relevance depends on the environmental conditions and supposed mission. As such, the performance of each vehicle is discussed and characterised in real, relevant conditions. A novel water-reactive fuel thruster is developed for impulsive take-off, allowing consecutive and multiple jump-gliding from the water surface in rough conditions. At a smaller scale, the escape of a milligram robotic bee is achieved. In addition, a new robot class is demonstrated, that employs the same wings for flying as for passive surface sailing. This unique capability allows the flexibility of flight to be combined with long-duration surface missions, enabling autonomous prolonged aquatic monitoring.Open Acces

BogieCopter: A Multi-Modal Aerial-Ground Vehicle for Long-Endurance Inspection Applications

The use of Micro Aerial Vehicles (MAVs) for inspection and surveillance missions has proved to be extremely useful, however, their usability is negatively impacted by the large power requirements and the limited operating time. This work describes the design and development of a novel hybrid aerial-ground vehicle, enabling multi-modal mobility and long operating time, suitable for long-endurance inspection and monitoring applications. The design consists of a MAV with two tiltable axles and four independent passive wheels, allowing it to fly, approach, land and move on flat and inclined surfaces, while using the same set of actuators for all modes of locomotion. In comparison to existing multi-modal designs with passive wheels, the proposed design enables a higher ground locomotion efficiency, provides a higher payload capacity, and presents one of the lowest mass increases due to the ground actuation mechanism. The vehicle's performance is evaluated through a series of real experiments, demonstrating its flying, ground locomotion and wall-climbing capabilities, and the energy consumption for all modes of locomotion is evaluated.Comment: This paper has been accepted for publication at the IEEE International Conference on Robotics and Automation (ICRA), London, 202