Aeroelastics-aware compensation system for soft aerial vehicle stabilization
Fernando Ruiz1, Begoña C Arrue1, Aníbal Ollero1
1GRVC Aerial Robotics Laboratory, University of Seville, Seville, Spain.
Frontiers in Robotics and AI
|November 28, 2022
Summary
This study introduces a novel tendon-actuated system for stabilizing soft aerial vehicles (UAVs). This energy-efficient approach enhances drone flexibility and extends operational life by compensating for arm imbalances.
Area of Science:
- Robotics
- Aerospace Engineering
- Materials Science
Background:
- Soft aerial vehicles (UAVs) face challenges in stabilizing flexible arms with tilting propellers.
- Existing stabilization methods often lack dedicated actuation, relying on autopilot adjustments.
Purpose of the Study:
- To develop an energy-efficient, soft tendon-actuated system for in-flight stabilization of soft UAVs.
- To address aeroelastic perturbations and improve the robustness of soft aerial robots.
Main Methods:
- Implementation of a soft tendon-actuated system for active compensation.
- Design of a controller using the Ziegler-Nichols method for disturbance rejection.
- Consideration of flight modes and material properties for controller tuning.
Main Results:
- Achieved in-flight stabilization through an energy-efficient compensation system.
- Demonstrated a 15-30% increase in energetic efficiency compared to previous designs.
- Enhanced UAV flexibility and adaptability to changes in material properties.
Conclusions:
- The developed system effectively bridges the gap between soft and aerial robotics.
- The technology increases the useful life of drones and enables future applications like object grasping.
- This work advances the field of soft robotics for aerial applications.
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