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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2022
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2211.12045 |
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| _version_ | 1866910668857278464 |
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| author | Zha, Jiaming Wu, Xiangyu Dimick, Ryan Mueller, Mark W. |
| author_facet | Zha, Jiaming Wu, Xiangyu Dimick, Ryan Mueller, Mark W. |
| contents | We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous re-orientation controller that facilitates post-collision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision resilience and re-orientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously-unknown forest environment. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2211_12045 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure Zha, Jiaming Wu, Xiangyu Dimick, Ryan Mueller, Mark W. Robotics We introduce collision-resilient aerial vehicles with icosahedron tensegrity structures, capable of surviving high-speed impacts and resuming operations post-collision. We present a model-based design approach, which guides the selection of the tensegrity components by predicting structural stresses through a dynamics simulation. Furthermore, we develop an autonomous re-orientation controller that facilitates post-collision flight resumption. The controller enables the vehicles to rotate from an arbitrary orientation on the ground for takeoff. With collision resilience and re-orientation ability, the tensegrity aerial vehicles can operate in cluttered environments without complex collision-avoidance strategies. These capabilities are validated by a test of an experimental vehicle operating autonomously in a previously-unknown forest environment. |
| title | Design and control of a collision-resilient aerial vehicle with an icosahedron tensegrity structure |
| topic | Robotics |
| url | https://arxiv.org/abs/2211.12045 |