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Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control
المؤلفون المشاركون
Du, Shanshan
Chen, Heping
Hu, Runting
Liu, Yong
المصدر
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-10-04
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
Currently, a bottleneck problem for battery-powered microflying robots is time of endurance.
Inspired by flying animal behavior in nature, an innovative mechanism with active flying and perching in the three-dimensional space was proposed to greatly increase mission life and more importantly execute tasks perching on an object in the stationary way.
In prior work, we have developed some prototypes of flying and perching robots.
However, when the robots switch between flying and perching, it is a challenging issue to deal with the contact between the robot and environment under the traditional position control without considering the stationary obstacle and external force.
Therefore, we propose a unified impedance control approach for bioinspired flying and perching robots to smoothly contact with the environment.
The dynamic model of the bioinspired robot is deduced, and the proposed impedance control method is employed to control the contact force and displacement with the environment.
Simulations including the top perching and side perching and the preliminary experiments were conducted to validate the proposed method.
Both simulation and experimental results validate the feasibility of the proposed control methods for controlling a bioinspired flying and perching robot.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Du, Shanshan& Chen, Heping& Liu, Yong& Hu, Runting. 2015. Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control. Journal of Robotics،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070037
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Du, Shanshan…[et al.]. Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control. Journal of Robotics No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1070037
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Du, Shanshan& Chen, Heping& Liu, Yong& Hu, Runting. Unified Switching between Active Flying and Perching of a Bioinspired Robot Using Impedance Control. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1070037
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1070037
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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