How ornithopters can perch autonomously on a branch

Raphael Zufferey (), Jesus Tormo-Barbero, Daniel Feliu-Talegón, Saeed Rafee Nekoo, José Ángel Acosta and Anibal Ollero
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Raphael Zufferey: University of Seville
Jesus Tormo-Barbero: University of Seville
Daniel Feliu-Talegón: University of Seville
Saeed Rafee Nekoo: University of Seville
José Ángel Acosta: University of Seville
Anibal Ollero: University of Seville

Nature Communications, 2022, vol. 13, issue 1, 1-11

Abstract: Abstract Flapping wings produce lift and thrust in bio-inspired aerial robots, leading to quiet, safe and efficient flight. However, to extend their application scope, these robots must perch and land, a feat widely demonstrated by birds. Despite recent progress, flapping-wing vehicles, or ornithopters, are to this day unable to stop their flight. In this paper, we present a process to autonomously land an ornithopter on a branch. This method describes the joint operation of a pitch-yaw-altitude flapping flight controller, an optical close-range correction system and a bistable claw appendage design that can grasp a branch within 25 milliseconds and re-open. We validate this method with a 700 g robot and demonstrate the first autonomous perching flight of a flapping-wing robot on a branch, a result replicated with a second robot. This work paves the way towards the application of flapping-wing robots for long-range missions, bird observation, manipulation, and outdoor flight.

Date: 2022
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DOI: 10.1038/s41467-022-35356-5

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