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

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.