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Adaptive Robotic Multi-Modal System (ARM2S)
Figure 1. Intended Operation
of Platform |
In order to build this Adaptive Robotic Multi-Modal System
(ARM2S), we need to develop a small,
lightweight dynamic climber capable of reliable vertical
running and a glider with acceptable size and lift
at the specified scale. We must
also design an integrated platform that
efficiently adapts structural
elements from both the climber and a glider. After the creation
of a viable platform, methods of
transition and control for the two forms of locomotion can be
developed and tested.
The figure shown
at left illustrates the intended operation of the integrated
platform. The platform will be able to detach from a vertical
surface, transition, and enter a glide. |
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Related Links:
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Inspired by the ability of arboreal animals to launch themselves
into the air and glide, we have
presented a design for a robotic platform capable of both dynamic
climbing and transitioning into flight from a vertical
surface. Preliminary simulation and experimental results indicate that both
flight and climbing
should be achievable if the combined mass of the system is maintained at the
target value of 200 g. The design and manufacture
of a second generation ARM2S device that meets this goal is presented. |
| In the future the behavior of
this system will be tested experimentally and design and
control strategies developed to enable
efficient detachment and gliding from vertical
surfaces. Motion capture data from gliding
and climbing tests will be instrumental in the
continued development of this system, providing glide
profiles and allowing practical,
empirically determined center of mass placement. In
addition, robust, compliant claws
utilizing passive attachment control will increase the
efficiency of vertical running and
expand the set of viable climbing
surfaces. Future studies will include analysis of rib
spacing on lift characteristics of
skeletal airfoil designs and optimal manufacturing processes
for further reduction of weight while retaining
flight characteristics. Flight control strategies
will be developed and applied to the system for
efficient gliding. |
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Figure 2. Final
Integrated Platform |
Videos
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ARM2S early integrated prototype
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Initial development of an ARM2S
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ARM2S
Detachment Prototyping |
Publications
- Dickson, J. and Clark, J., "Design of a multi-modal climbing and
gliding robotic platform," IEEE/ASME Transactions on Mechatronics,
October, 2012. (Pending)
- Dickson, J., Kulinka, C., Martin, M., Yeol, J., and Clark, J., "Development and Integration of Adaptive Robotic Multi-Modal System (ARM2S),"
AIAA 49th Annual Aerospace Sciences Meeting, Orlando, Florida,
January 4-7, 2011.
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