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.

一眨眼的功夫，苍蝇就可以通过执行一系列协调一致的动作，由一个不比针头大的大脑触发和控制，倒立在天花板上。该项目旨在揭示这一过程的强大智能如何从计算和机械过程的协同组合中产生，以及如何通过综合生物和机器人研究将其转化为机器人飞行器。小型机器人飞行器普遍存在能耗高和空气动力效率低的问题。强大的栖息能力将显着延长小型机器人飞行器的运行时间，并扩大其应用范围，例如环境和灾害监测、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实验，向学生和公众介绍生物和机器人运动原理，为各个年龄段的 STEM 学生创建一个理想的教育框架。对于小型飞行器、动物和机器人来说，在动态和不确定的环境中成功栖息是最具挑战性的特技飞行壮举之一。为了安全着陆，飞行器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-姿态传感和控制问题。该项目将首先使用具有人工操纵视觉线索的针对性昆虫实验来揭示协调蓝瓶蝇栖息的不同动作的计算过程，以及计算如何考虑动态物理环境和机械过程。在生物栖息结果的指导下，该项目将使用厘米级四轴飞行器在静止或移动表面上实现强大的机器人栖息。这将通过开发计算效率高的视觉算法来实现，以提取必要的视觉信息来控制机器人在着陆前的速度和方向，以便机器人能够通过仿生兼容腿牢固地附着在所需的表面上。该奖项反映了 NSF 的法定使命，并具有通过使用基金会的智力优点和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

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

苍蝇利用快速视觉介导的旋转动作倒挂在天花板上

• DOI: 10.1126/sciadv.aax1877
• 发表时间: 2019-10
• 期刊: Science Advances
• 影响因子: 13.6
• 作者: Liu, Pan;Sane, Sanjay P.;Mongeau, Jean;Zhao, Jianguo;Cheng, Bo
• 通讯作者: Cheng, Bo

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: 2020-10
• 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: 2020-11
• 期刊: IEEE/ASME Transactions on Mechatronics
• 作者: Zhang, Haijie;Lerner, Elisha;Cheng, Bo;Zhao, Jianguo
• 通讯作者: Zhao, Jianguo

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

基于接触时间的空中机器人栖息的最佳轨迹生成

• DOI: 10.1088/1748-3190/aaeb13
• 发表时间: 2019-01
• 期刊: Bioinspiration & Biomimetics
• 影响因子: 3.4
• 作者: Zhang, Haijie;Cheng, Bo;Zhao, Jianguo
• 通讯作者: Zhao, Jianguo