TY - GEN
T1 - The flying monkey
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
AU - Mulgaonkar, Yash
AU - Araki, Brandon
AU - Koh, Je Sung
AU - Guerrero-Bonilla, Luis
AU - Aukes, Daniel M.
AU - Makineni, Anurag
AU - Tolley, Michael T.
AU - Rus, Daniela
AU - Wood, Robert J.
AU - Kumar, Vijay
N1 - Funding Information:
This research was supported by the National Science Foundation (IIS-1138847, EFRI-1240383 and CCF-1138967) and in part by the Army Research Laboratory (W911NF-08-2-0004) and the Wyss Institute for Biologically Inspired Research
Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads - and the mechanisms used to manipulate them - reduces this flight time even further. In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world's smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30 g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial robots.
AB - The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads - and the mechanisms used to manipulate them - reduces this flight time even further. In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world's smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30 g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial robots.
UR - http://www.scopus.com/inward/record.url?scp=84977598299&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84977598299&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2016.7487667
DO - 10.1109/ICRA.2016.7487667
M3 - Conference contribution
AN - SCOPUS:84977598299
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4672
EP - 4679
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 16 May 2016 through 21 May 2016
ER -