Engineering and Technology

Synergistic morphology and feedback control for traversal of unknown compliant obstacles with aerial robots

E. Aucone, C. Geckeler, et al.

Imagine a drone that can slide through vegetation instead of avoiding it! This innovative research by Emanuele Aucone, Christian Geckeler, Daniele Morra, Lucia Pallottino, and Stefano Mintchev showcases a bio-inspired method where a sensorized shell allows safe traversal through unknown compliant obstacles, revolutionizing environmental monitoring and more.

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Playback language: English

Index

Abstract

Current drones perceive vegetation as obstacles to avoid. This paper demonstrates a bio-inspired approach enabling a drone to traverse unknown compliant obstacles like vegetation. A discoid sensorized shell facilitates interaction and sliding, simplifying control. An optimization-based controller ensures safety and dampens oscillations, even with unknown elastic responses. Experiments validate the strategy across varying stiffness values and real branches, showcasing potential for environmental monitoring and other applications.

Publisher

Nature Communications

Published On

Mar 26, 2024

Authors

Emanuele Aucone, Christian Geckeler, Daniele Morra, Lucia Pallottino, Stefano Mintchev

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