The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp
Name
ICRA16_Araki_Flying_Monkey.pdf
Size
5.82 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Mulgaonkar, Yash
Araki, Brandon
Koh, Je-sung
Guerrero-Bonilla, Luis
Aukes, Daniel M.
Makineni, Anurag
Tolley, Michael T.
Rus, Daniela L.
Wood, Robert J.
Kumar, Vijay
Date Issued
May 2016
Journal
Proceedings of the 2016 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Mulgaonkar, Yash, Brandon Araki, Je-sung Koh, Luis Guerrero-Bonilla, Daniel M. Aukes, Anurag Makineni, Michael T. Tolley, Daniela L. Rus, Robert J. Wood, and Vijay Kumar. "The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp." 2016 IEEE International Conference on Robotics and Automation (May 2016).
Version
Author's final manuscript
Abstract
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 roots.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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DOI of Published Version
https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_4.html#thbat3_02
