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Bioinspired Adaptive Leg-Claw Enables Robust Perching and Grasping for UAVs.

Tianyu Cheng1, Shaokun Wang1, Jiehan Zou1

  • 1College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China.

Advanced Science (Weinheim, Baden-Wurttemberg, Germany)
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Summary

This study introduces a novel bioinspired leg-claw mechanism for unmanned aerial vehicles (UAVs), enabling robust perching and grasping in complex environments. The adaptive design mimics raptor hindlimbs for versatile aerial manipulation and prolonged operation.

Keywords:
UAVadaptive leg‐claw systemaerial manipulationbioinspired roboticstensile structure

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Area of Science:

  • Robotics
  • Bio-inspired engineering
  • Mechanical design

Background:

  • Conventional unmanned aerial vehicles (UAVs) face limitations in perching and grasping, restricting their operational capabilities in complex, unstructured environments.
  • Raptors exhibit advanced aerial manipulation and stable roosting due to specialized hindlimb morphology, offering a model for bio-inspired design.

Purpose of the Study:

  • To develop a bio-inspired adaptive leg-claw mechanism for UAVs that enhances perching and grasping abilities.
  • To enable UAVs to achieve stable attachment and manipulation in diverse and challenging environments.

Main Methods:

  • Integration of a four-link tibia, tension-driven deformable feet, and symmetrical toes for stable surface attachment.
  • Development of an active grasping strategy and control framework for autonomous mode switching (standing/hanging) and adaptive toe adjustment.
  • Bio-mimicry of owl limb structure and bat roosting behaviors.

Main Results:

  • The bio-inspired mechanism allows UAVs to perform robust and versatile perching and grasping.
  • Demonstrated stable attachment on surfaces of varying geometry and diameters.
  • Enabled autonomous switching between standing and hanging perching modes and adaptive grasping of irregular objects.

Conclusions:

  • The proposed leg-claw mechanism significantly enhances UAV functionality for perching and grasping in unstructured environments.
  • This bio-inspired approach holds substantial potential for advancing autonomous aerial robotics and prolonged field operations.