Flapping wings are a bio-inspired method to produce lift and thrust in aerial robots, leading quiet efficient motion. The advantages of this technology safety maneuverability, physical interaction with the environment, humans, animals. However, enable substantial applications, these robots must perch land. Despite recent progress perching field, flapping-wing vehicles, or ornithopters, day unable stop their flight on branch. In paper, we present novel that defines process reliably...

Terminal sliding-mode control (TSMC) has been studied and applied extensively in the last few years. This technique gives rise to a robust with tunable finite-time convergence, providing fast accurate response presence of parameter uncertainties. In that sense, we present closed-loop controller for class nonlinear systems using terminal controller, novel fractional-order sliding surface. The motivation this work is consider time-varying gain surface relatively small at beginning regulation...

Soft robots and bioinspired systems have revolutionized robot design by incorporating flexibility deformable materials inspired nature's ingenious designs. Similar to many robotic applications, sensing perception are paramount enable soft adeptly navigate the unpredictable real world, ensuring safe interactions with both humans environment. Despite recent progress, sensorization still faces significant challenges due virtual infinite degrees of freedom system need for efficient computational...

The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity dynamic coupling, and necessity for sensitive interaction with marine life, call adoption soft approaches in exploration. To address this, we present a novel prototype, ZodiAq, drone inspired by prokaryotic bacterial flagella. ZodiAq's unique dodecahedral structure, equipped 12 flagella-like arms, ensures design redundancy compliance, ideal navigating complex terrains. prototype features...

The need for fast and accurate analysis of soft robots calls reduced order models (ROM). Among these, the relative reduction strain-based ROMs follows discretization strain to capture configurations robot. Based on geometrically exact variable parametrization Cosserat rod, we developed a ROM that necessitates minimal number degrees freedom represent state robot: Geometric Variable Strain (GVS) model. This model allows static dynamic open-, branched-, or closed-chain soft-rigid hybrid robots,...

Efficient modeling of soft robots for design optimization and control is an active area research. When representing as assembly rods rigid bodies, strain-based parametrization has proved to be able reduce the required number degrees freedom drastically. However, this reduction ability strongly depends on choice strain basis employed describe system. In paper, we proposed a new implicit parametrization, showed its use represent system's configuration manifold with no more than actuators....

This article deals with the control of two degrees freedom manipulators that have a flexible and very lightweight link. These robots single low-frequency high-amplitude vibration mode. Their actuators high friction, their sensors are often strain gauges offset high-frequency noise. problems reduce robot precision produce noisy signals saturate actuators. An efficient system is proposed to overcome these drawbacks. Actuator friction effect nearly removed by closing gain position loop around...

Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well for surface object recognition. These devices, called sensing antennae, perform an active strategy which a servomotor system moves the link back forth until it hits object. At this instant, information of motor angles measurements allow calculating positions hitting points, are valuable about surface. In order move antenna fast accurately, article proposes new closed-loop control...

Nature exhibits many examples of birds, insects and flying mammals with flapping wings limbs offering some functionalities. Although in robotics, there are robots wings, it has not been yet a goal to add them manipulation-like capabilities, similar ones that exhibited on birds. The robot (ornithopter) we propose improves the existent aerial manipulators based multirotor platforms terms longer flight duration missions safety proximity humans. Moreover, manipulation capabilities allows perch...

Winged animals such as birds, flying mammals or insects have lightweight limbs which allow them to perform different tasks. Although in robotics there are some examples of winged robots (called ornithopters), it has not been yet studied how add manipulation-like capabilities, similarly the anatomy limbs. Adding those capabilities ornithopters will outperform multirotor platforms giving possibility perch unaccessible places, grasp objects and kind manipulation while being proximity humans....

The manipulation capabilities of flapping-wing flying robots (FWFRs) is a problem barely studied. This direct consequence the load-carrying capacity limitation robots. Ornithopters will improve existent multirotor unmanned aerial vehicles (UAVs) since they could perform longer missions and offer safe interaction in proximity to humans. technology also opens possibility perch some trees tasks such as obtaining samples from nature, enabling biologists collect remote places, or assisting people...

Some insects or mammals use antennae whiskers to detect by the sense of touch obstacles recognize objects in environments which other senses like vision cannot work. Artificial flexible can be used robotics mimic this these recognition tasks. We have designed and built a two-degree freedom (2DOF) antenna sensor device perform robot navigation This is composed beam, two servomotors that drive beam load cell detects contact with an object. It found efficiency such strongly depends on speed...

In this paper a two-input, two-output (TITO) fractional order mathematical model of laboratory prototype hydraulic canal is proposed. This made up two pools that have strong interaction between them. The inputs the TITO are pump flow and opening an intermediate gate, outputs water levels in pools. Based on experiments developed parameters models been identified. Then, considering model, first control loop closed to reproduce real-world conditions which level pool not dependent upstream thus...

Flexible links combined with force and torque sensors can be used to detect obstacles in mobile robotics, as well for surface object recognition. These devices, called sensing antennae, perform an active strategy which a servomotor system moves the link back forth until it hits object. At this instant, information of motor angles measurements allow calculating positions hitting points, are valuable about surface. In order move antenna fast accurately, article proposes new open loop control...

This work presents a new methodology for the design of positioning control single-link flexible manipulators which present only one vibration mode in their dynamics. In this work, standard phase-lead compensator will be extended to fractional-order used minimize vibrations flexible-link. The objective is precise link tip by combining motor as well reducing large part flexible-link vibration. strategy based on feedforward term and feedback controller. proposed deals with two perturbations are...

Abstract The sampling and monitoring of nature have become an important subject due to the rapid loss green areas. This work proposes a possible solution for method leaves using ornithopter robot equipped with onboard 94.1 g dual-arm cooperative manipulator. One hand is scissors-type arm other one gripper perform collection, approximately similar operation by human fingers. In move toward autonomy, stereo camera has been added provide visual feedback stem, which reports position cutting...

In this work, we present an experimental setup and guide to enable the perching of large flapping-wing robots. The combination forward flight, limited payload, flight oscillations imposes challenging conditions for localized perching. described method details different operations that are concurrently performed within 4 second flight. We validate experiment with a 700 g ornithopter demonstrate first autonomous robot on branch. This work paves way towards application robots long-range...

In this paper a fractional order model for an irrigation main canal is proposed. This system has two pools that present strong interaction between them. Then multivariable with inputs: the pump flow and opening of intermediate gate, outputs: water levels in pools, derived. The identification parameters based on experiments developed laboratory prototype hydraulic application direct methodology. accuracy proposed models compared standard integer-order canal. mathematical have been identified...