RI: Small: Collaborative Research: Vision-guided Control of Robust Perching: From Biological to Robotic Flyers

RI：小型：协作研究：视觉引导的稳健栖息控制：从生物到机器人传单

• 批准号: 1815519
• 负责人: Bo Cheng
• 金额: $ 25万
• 依托单位: Pennsylvania State Univ University Park
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-08-15 至 2021-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1815519&HistoricalAwards=false
• 关键词: RI; Small; Collaborative; Research; Vision

In a blink of our eyes, a fly can perch upside-down on a ceiling by executing a sequence of well-coordinated maneuvers triggered and controlled by a brain no bigger than a pinhead. This project aims to unravel how the robust intelligence of this process emerges from a synergistic combination of computational and mechanical processes, and how can they be translated to robotic flyers through an integrated biological and robotic investigation. Small robotic flyers suffer universally from high energy consumption and low aerodynamic efficiency. Robust perching will significantly extend small robotic flyer's functioning time and expand their applications such as environmental and disaster monitoring, aerial surveillance, and search and rescue. The project will also introduce biological and robotic locomotion principles to students and the public through visually appealing insect flights and robotic perching experiments, creating an ideal educational framework for STEM students of all ages. For small flyers, animals and robots alike, orchestrating a successful perching in dynamic and uncertain environments is one of the most challenging aerobatic feats. To land safely, a flyer has to solve a distance-velocity-attitude sensing and control problem with limited computational resources and under stringent time constraints. This project will first use targeted insect experiments with artificially-manipulated visual cues to reveal the computational processes that coordinate different maneuvers of perching in blue bottle flies, and how the computation takes into account dynamic physical environments and mechanical processes. Guided by the results from the biological perching, this project will accomplish robust robotic perching on stationary or moving surfaces using a centimeter-scale quadcopter. This will be achieved by developing computationally-efficient vision algorithms to extract essential visual information to control the robot's velocity and orientation prior to touchdown so that the robot can firmly attach to the desired surfaces with biomimetic compliant legs.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

在我们的眼睛眨眼间，通过执行一系列良好的协调的操纵，可以在天花板上颠倒地爬上，并由不超过Pinhead大的大脑触发和控制。该项目旨在揭示该过程的鲁棒智能如何从计算和机械过程的协同组合中出现，以及如何通过集成的生物学和机器人研究将它们转化为机器人传单。小型机器人传单普遍遭受高能耗和低空气动力学效率的影响。强大的栖息地将大大延长小型机器人传单的运行时间，并扩大其应用程序，例如环境和灾难监测，空中监视以及搜索和救援。该项目还将通过视觉上吸引人的昆虫飞行和机器人栖息的实验向学生和公众介绍生物和机器人的运动原则，为所有年龄段的STEM学生创建理想的教育框架。对于小型传单，动物和机器人，在动态和不确定的环境中成功栖息的是最具挑战性的特技飞行壮举之一。为了安全地着陆，传单必须在有限的计算资源和严格的时间限制下解决距离速度 - 态度传感和控制问题。该项目将首先使用具有人工操纵的视觉提示的有针对性昆虫实验来揭示协调蓝瓶蝇中栖息的不同动作的计算过程，以及计算如何考虑动态的物理环境和机械过程。在生物栖息的结果的指导下，该项目将使用厘米尺度四轮驱动器在固定或移动表面上完成稳健的机器人栖息。这将通过开发计算高效的视觉算法来提取基本的视觉信息，以控制机器人在达阵之前的速度和取向，以便机器人可以牢固地连接到具有生物模仿符合性腿的所需表面上。该奖项反映了NSF的法定任务，并通过评估了基金会的范围，并通过基金会的范围进行了评估和宽广的效果。

项目成果

Optimal trajectory generation for time-to-contact based aerial robotic perching

• DOI: 10.1088/1748-3190/aaeb13
• 发表时间: 2018-11
• 期刊: Bioinspiration & Biomimetics
• 影响因子: 3.4
• 作者: Haijie Zhang;Bo Cheng;Jianguo Zhao

Bio-inspired Inverted Landing Strategy in a Small Aerial Robot Using Policy Gradient

使用策略梯度的小型空中机器人的仿生倒转着陆策略

• DOI: 10.1109/iros45743.2020.9341732
• 发表时间: 2020
• 期刊: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Liu, Pan;Geng, Junyi;Li, Yixian;Cao, Yanran;Bayiz, Yagiz E.;Langelaan, Jack W.;Cheng, Bo
• 通讯作者: Cheng, Bo

Compliant Bistable Grippers Enable Passive Perching for Micro Aerial Vehicles

兼容的双稳态夹具可实现微型飞行器的被动栖息

• DOI: 10.1109/tmech.2020.3037303
• 发表时间: 2020
• 期刊: IEEE/ASME Transactions on Mechatronics
• 作者: Zhang, Haijie;Lerner, Elisha;Cheng, Bo;Zhao, Jianguo
• 通讯作者: Zhao, Jianguo

Flies land upside down on a ceiling using rapid visually mediated rotational maneuvers

• DOI: 10.1126/sciadv.aax1877
• 发表时间: 2019-10-01
• 期刊: SCIENCE ADVANCES
• 影响因子: 13.6
• 作者: Liu, Pan;Sane, Sanjay P.;Cheng, Bo
• 通讯作者: Cheng, Bo