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EPFLLIS
เข้าร่วมเมื่อ 25 ก.ย. 2008
The Laboratory of Intelligent Systems (LIS) directed by Prof. Dario Floreano focuses on the development of robotic systems and artificial intelligence methods inspired by biological principles of self-organization. The lab specializes in three interconnected fields of research: flying robotics, artificial systems and social evolution.
Fast ground-to-air transition with avian-inspired multifunctional legs
Most birds can navigate seamlessly between aerial and terrestrial environments. Whereas the forelimbs evolved into wings primarily for flight, the hindlimbs serve diverse functions such as walking, hopping and leaping, and jumping take-off for transitions into flight. These capabilities have inspired engineers to aim for similar multimodality in aerial robots, expanding their range of applications across diverse environments. However, challenges remain in reproducing multimodal locomotion, across gaits with distinct kinematics and propulsive characteristics, such as walking and jumping, while preserving lightweight mass for flight. This trade-off between mechanical complexity and versatility limits most existing aerial robots to only one additional locomotor mode. Here we overcome the complexity-versatility trade-off with RAVEN (Robotic Avian-inspired Vehicle for multiple ENvironments), which uses its bird-inspired multifunctional legs to jump rapidly into flight, walk on the ground, and hop over obstacles and gaps similar to the multimodal locomotion of birds. We show that jumping for take-off contributes substantially to the initial flight take-off speed and, remarkably, that it is more energy efficient than taking off without the jump. Our analysis suggests an important trade-off in mass distribution between legs and body among birds adapted for different locomotor strategies, with greater investment in leg mass among terrestrial birds with multimodal gait demands. Multifunctional robot legs expand the opportunities to deploy traditional fixed-wing aircraft in complex terrains through autonomous take-offs and multimodal gaits.
Cite this article: Shin, W.D., Phan, HV., Daley, M.A., Ijspeert A.J., and Floreano, D. Fast ground-to-air transition with avian-inspired multifunctional legs. Nature 636, 86-91 (2024).
Link: www.nature.com/articles/s41586-024-08228-9
Cite this article: Shin, W.D., Phan, HV., Daley, M.A., Ijspeert A.J., and Floreano, D. Fast ground-to-air transition with avian-inspired multifunctional legs. Nature 636, 86-91 (2024).
Link: www.nature.com/articles/s41586-024-08228-9
มุมมอง: 4 436
วีดีโอ
A twist of the tail in turning maneuvers of bird-inspired drones
มุมมอง 13K2 หลายเดือนก่อน
A banked turn is a common flight maneuver observed in birds and aircraft. To initiate the turn, whereas traditional aircraft rely on the wing ailerons, most birds use a variety of asymmetric wing-morphing control techniques to roll their bodies and thus redirect the lift vector to the direction of the turn. Nevertheless, when searching for prey, soaring raptors execute steady banked turns witho...
Adaptive morphing for stable, resilient, and energy-efficient flight of avian-informed drones
มุมมอง 357K2 หลายเดือนก่อน
Avian-informed drones feature morphing wing and tail surfaces, enhancing agility and adaptability in flight. Despite their large potential, realising their full capabilities remains challenging due to the lack of generalized control strategies accommodating their large degrees of freedom and cross-coupling effects between their control surfaces. Here we propose a new body-rate controller for av...
Agile perching maneuvers in birds and morphing-wing drones
มุมมอง 5K4 หลายเดือนก่อน
Avian perching maneuvers are one of the most frequent and agile flight scenarios, where highly optimized flight trajectories, produced by rapid wing and tail morphing that generate high angular rates and accelerations, reduce kinetic energy at impact. While the behavioral, anatomical, and aerodynamic factors involved in these maneuvers are well described, the underlying control strategies are p...
Accurate Vision-based Flight with Fixed-Wing Drones
มุมมอง 1K4 หลายเดือนก่อน
Fixed-wing drones must navigate to the desired location accurately for maneuvers such as picking up objects and perching. However, current GNSS receivers limit their navigation accuracy to several meters in outdoor environments, making such maneuvers impossible. RTK GNSS can improve flight accuracy, but it requires ground stations at the target location and additional communication modules on t...
Passive wing deployment and retraction in beetles and flapping microrobots
มุมมอง 1.5K6 หลายเดือนก่อน
Birds, bats and many insects can tuck their wings against their bodies when at rest and deploy them to power flight. Whereas birds and bats use well-developed pectoral and wing muscles, how insects control their wing deployment and retraction remains unclear because this varies among insect species. Beetles (Coleoptera) display one of the most complex mechanisms. In rhinoceros beetles, Allomyri...
Crash-Perching on Vertical Poles with a Hugging-Wing Robot
มุมมอง 4.8K6 หลายเดือนก่อน
Perching with winged Unmanned Aerial Vehicles has often been solved by means of complex control or intricate appendages. Here, we present a method that relies on passive wing morphing for crash-landing on trees and other types of vertical poles. Inspired by the adaptability of animals’ and bats’ limbs in gripping and holding onto trees, we design dual-purpose wings that enable both aerial glidi...
High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments (HDSM)
มุมมอง 85911 หลายเดือนก่อน
Paper: arxiv.org/abs/2402.19033 Code: github.com/lis-epfl/multi_agent_pkgs Abstract: Coordinated flight of multiple drones allows to achieve tasks faster such as search and rescue and infrastructure inspection. Thus, pushing the state-of-the-art of aerial swarms in navigation speed and robustness is of tremendous benefit. In particular, being able to account for unexplored/unknown environments ...
Avian-Inspired Claws Enable Robot Perching or Walking
มุมมอง 3.6Kปีที่แล้ว
Multimodal UAVs (Unmanned Aerial Vehicles) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating envelope. For instance, an aerial robot could fly a long distance, perch in a high place to survey the surroundings, then walk to avoid obstacles...
Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery
มุมมอง 413ปีที่แล้ว
Here, a fast-response, multisegmented catheter is described for minimally invasive surgery made of variable-stiffness thread (FRVST) that encapsulates a helical cooling channel. The rapid stiffness change in the FRVST, composed of a nontoxic shape memory polymer, is achieved by an active cooling system that pumps water through the helical channel. The FRVST displays a 66 times stiffness change ...
Reconfigurable Drone System for Transportation of Parcels With Variable Mass and Size (full video)
มุมมอง 2.4K2 ปีที่แล้ว
Schiano, F., Kornatowski, P.M., Cencetti, L. and Floreano, D., 2022. Reconfigurable drone system for transportation of parcels with variable mass and size. IEEE Robotics and Automation Letters, 7(4), pp.12150-12157. Paper: (IEEE) ieeexplore.ieee.org/document/9899697/ (arxiv) arxiv.org/abs/2211.08893 Abstract: Cargo drones are designed to carry payloads with predefined shape, size, and/or mass. ...
On the Scalability of Vision-based Drone Swarms in the Presence of Occlusions
มุมมอง 3992 ปีที่แล้ว
Vision-based drone swarms have recently emerged as a promising alternative to address the fault-tolerance and flexibility limitations of centralized and communication-based aerial collective systems. Although most vision-based control algorithms rely on the detection of neighbors, they usually neglect critical perceptual factors such as visual occlusions and their effect on the scalability of t...
Tracking and Relative Localization of Drone Swarms with a Vision based Headset
มุมมอง 9223 ปีที่แล้ว
Pavliv, M., Schiano, F., Reardon, C., Floreano, D. and Loianno, G., 2021. Tracking and relative localization of drone swarms with a vision-based headset. IEEE Robotics and Automation Letters, 6(2), pp.1455-1462. Paper: ieeexplore.ieee.org/document/9324934 Abstract: We address the detection, tracking, and relative localization of the agents of a drone swarm from a human perspective using a heads...
Autonomous Detection and Deterrence of Pigeons on Buildings by Drones
มุมมอง 8K3 ปีที่แล้ว
Schiano, F., Natter, D., Zambrano, D. and Floreano, D., 2021. Autonomous detection and deterrence of pigeons on buildings by drones. IEEE Access, 10, pp.1745-1755. Paper (open access): ieeexplore.ieee.org/document/9656717 Abstract: Pigeons may transmit diseases to humans and cause damages to buildings, monuments, and other infrastructure. Therefore, several control strategies have been develope...
Passive Perching with Energy Storage for Winged Aerial Robots
มุมมอง 3K3 ปีที่แล้ว
Perching in unmanned aerial vehicles (UAVs) offers the possibility of extending the range of aerial robots beyond the limits of their batteries. It has been a topic of intense study for multirotor UAVs. Perching in winged UAVs is harder because a kinetic energy balance has to be struck. Reducing too much energy results in the vehicle stalling and falling. Too much kinetic energy at touchdown co...
Robotic Elytra: Insect-inspired Protective Wings for Resilient and Multi-modal Drones
มุมมอง 14K3 ปีที่แล้ว
Robotic Elytra: Insect-inspired Protective Wings for Resilient and Multi-modal Drones
Distributed predictive drone swarms in cluttered environments
มุมมอง 1.7K3 ปีที่แล้ว
Distributed predictive drone swarms in cluttered environments
Insect Inspired Self-Righting for Fixed-Wing Drones
มุมมอง 7K3 ปีที่แล้ว
Insect Inspired Self-Righting for Fixed-Wing Drones
Personalized Human-Swarm Interaction Through Hand Motion
มุมมอง 3853 ปีที่แล้ว
Personalized Human-Swarm Interaction Through Hand Motion
Does spontaneous motion lead to intuitive Body-Machine Interfaces?
มุมมอง 1023 ปีที่แล้ว
Does spontaneous motion lead to intuitive Body-Machine Interfaces?
VIODE: A Simulated Dataset to Address the Challenges of VIO in Dynamic Environments
มุมมอง 2.8K3 ปีที่แล้ว
VIODE: A Simulated Dataset to Address the Challenges of VIO in Dynamic Environments
Vision-based Drone Flocking in Outdoor Environments
มุมมอง 2.1K3 ปีที่แล้ว
Vision-based Drone Flocking in Outdoor Environments
Teaser - The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
มุมมอง 953 ปีที่แล้ว
Teaser - The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
IEEEVR - The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
มุมมอง 1443 ปีที่แล้ว
IEEEVR - The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
มุมมอง 1504 ปีที่แล้ว
The Impact of Virtual Reality and Viewpoints in Body Motion Based Drone Teleoperation
ICRA 2020 - Hand worn Haptic Interface for Drone Teleoperation
มุมมอง 6084 ปีที่แล้ว
ICRA 2020 - Hand worn Haptic Interface for Drone Teleoperation
Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces
มุมมอง 1214 ปีที่แล้ว
Personalized Telerobotics by Fast Machine Learning of Body-Machine Interfaces
Drone-aided Localization in LoRa IoT Networks
มุมมอง 5K4 ปีที่แล้ว
Drone-aided Localization in LoRa IoT Networks
Hand-worn Haptic Interface for Drone Teleoperation
มุมมอง 1K4 ปีที่แล้ว
Hand-worn Haptic Interface for Drone Teleoperation
Good job,excellent
Anyone who understands what’s going on in the world should know that this is not a good thing
This looks awesome!! Good job
This is cool, but that acronym was very forced.
Cool
hawk tuah
❤❤❤
OMG OMG >>> AIRPLANEEEEESS 🙃
Future is horizon
0:04 It's neat to see the effects of low pressure across the wing iops. You can the the feather tips lift up periodically.
박훈철님 멋집니다!!
Oooo
Where can I download this?
Hello this technic is available in GPS jamming case ? i want to know more about that, maybe can we contact you for working with us ?
birds of prey are gonna fuck these up
I had thought about stuff like this for so long and finally someone went and dit it. Great great work
Damn. Can’t wait to say I knew about these guys before the got their big defense contracts
great work
May I share this on my channel? I will leave the link to the video in the description and pinned comment… I’m a novice RC plane builder so this is very interesting and absolutely brilliant…
Right, but you should give it the ability to morph into a maximal
Should have a more flexible wing span since birds use high flexibility wing span and not tail motion.
Stable… as its oscillations amplitude increases
The futur is wonderful Can’t wait to see how tool such as genesis will help accelerate those new concepts
payload ratio?
Fascinating marriage of many technologies, materials, and capabilities into a novel craft. Leonardo would be proud! Please do not put bomb on it.
For drones with a more "spicy" payload, conventional style wings are a much better choice. Cheap, simple and more effective for higher speeds. Birds are lightweight, and agile for catching bugs or other birds. Drones serve a much different purpose, typically for taking out infantry and slow moving vehicles
lol why do you think they’re making it?
Showing this to medieval king be like 💀💀💀💀💀
heads up new jersey
Birds aren't real!
To think that Da Vinci came up with that centuries ago.
that is so freaking cool
This is so cool, but I want to see it fly and maintain stability in a more chaotic environment
What I love is how quiet (=efficient) a hummingbird is, compared with a nasty little drone just butchering the air with four 20,000 rpm props.
They aren't quite. They make a loud buzzing sound when they fly. It's a lot of noise for something so tiny. Super amazing that life can power such a complicated wing pattern at such speeds for so long. Sugar is powerful fuel. I'm curious about how the hummingbird compares to a drone pound for pound in making sound. Drones are noisy all the time but they are noiser when moving than hovering.
So the pigeons getting charged on the powerlines are getting an upgrade.
Ornithopter
Finally, now the bird drones for spying and bombing can fly more efficiently..
That is fucking sick button ⬇
This would be so much cooler if it were actually slope soaring, rather than having a motor. Like the first clip.
What materials have you tried using for your surface features so far?
Birds 2.0
this is dope!
very cool! I wonder how power efficient this compute could be in an untethered environment.
I can get up to 15 - 20 minutes flight time with my homemade biplane using a 3S 2200mah 30c Spektrum gen 2 battery so this should be able to do even better. Looks like it has very little drag compared to my biplane and looks like it could glide for a long time especially in the summer with thermal updrafts and a slight breeze…
👍. Интересно только как птицы остаются неподвижными без пропеллера🤔?
Next is how to build a damn transformers😂
Awesome work! I think you will able to make the brain for that with my software, that wold be fascinating
i was like why does this youtube title reads like a research paper title lol
Don’t pretend like this tech is new… birds haven’t been real for a long time
Finally I can fly like those in pub g and fortnite, hanging on robot eagle legs
more badassness
badass
Does this guy live in New Jersey?