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Planning and Control of Aggressive Maneuvers for Perching on Inclined and Vertical Surfaces

[+] Author Affiliations
Justin Thomas, Giuseppe Loianno, Vijay Kumar

University of Pennsylvania, Philadelphia, PA

Morgan Pope, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky

Stanford University, Stanford, CA

Paper No. DETC2015-47710, pp. V05CT08A012; 10 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5C: 39th Mechanisms and Robotics Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5714-4
  • Copyright © 2015 by ASME


It is important to enable micro aerial vehicles to land and perch on different surfaces to save energy by cutting power to motors and to perform tasks such as persistent surveillance. In many cases, the best available surfaces may be vertical windows, walls, or inclined roof tops. In this paper, we present approaches and algorithms for aggressive maneuvering to enable perching of underactuated quadrotors on surfaces that are not horizontal. We show the design of a custom foot/gripper for perching on smooth surfaces. Then, we present control and planning algorithms for maneuvering to land on specified surfaces while satisfying constraints on actuation and sensing. Experimental results that include successful perching on vertical, glass surfaces validate the proposed techniques.

Copyright © 2015 by ASME



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