Log In Sign Up

When Being Soft Makes You Tough: A Collision Resilient Quadcopter Inspired by Arthropod Exoskeletons

by   Ricardo de Azambuja, et al.

Flying robots are usually rather delicate, and require protective enclosures when facing the risk of collision. High complexity and reduced payload are recurrent problems with collision-tolerant flying robots. Inspired by arthropods' exoskeletons, we design a simple, easily manufactured, semi-rigid structure with flexible joints that can withstand high-velocity impacts. With an exoskeleton, the protective shell becomes part of the main robot structure, thereby minimizing its loss in payload capacity. Our design is simple to build and customize using cheap components and consumer-grade 3D printers. Our results show we can build a sub-250g, autonomous quadcopter with visual navigation that can survive multiple collisions at speeds up to 7m/s that is also suitable for automated battery swapping, and with enough computing power to run deep neural network models. This structure makes for an ideal platform for high-risk activities (such as flying in a cluttered environment or reinforcement learning training) without damage to the hardware or the environment.


page 2

page 3

page 4

page 6

page 7

page 8

page 9


A Flexible Exoskeleton for Collision Resilience

With inspiration from arthropods' exoskeletons, we designed a simple, ea...

High Precision Real Time Collision Detection

Collision detection and collision avoidance are essential components in ...

Collision-tolerant Aerial Robots: A Survey

As aerial robots are tasked to navigate environments of increased comple...

Tombo Propeller: Bio-Inspired Deformable Structure toward Collision-Accommodated Control for Drones

There is a growing need for vertical take-off and landing vehicles, incl...

Lambda-Field: A Continuous Counterpart of the Bayesian Occupancy Grid for Risk Assessment

In a context of autonomous robots, one of the most important task is to ...

Duckiefloat: a Collision-Tolerant Resource-Constrained Blimp for Long-Term Autonomy in Subterranean Environments

There are several challenges for search and rescue robots: mobility, per...

In-plane prestressed hair clip mechanism for the fastest untethered compliant fish robot

A trend has emerged over the past decades pointing to the harnessing of ...