Hitchhiker: A Quadrotor Aggressively Perching on a Moving Inclined Surface Using Compliant Suction Cup Gripper
Sensen Liu, Zhaoying Wang, Xinjun Sheng, Wei Dong

TL;DR
This paper presents a novel quadrotor perching system on moving inclined surfaces using a real-time trajectory planner and a compliant, wheel-like suction cup gripper, significantly improving success rates and robustness.
Contribution
The paper introduces a real-time, time-optimal trajectory planning algorithm and a compliant, multi-directional suction cup gripper for aggressive perching on moving inclined surfaces.
Findings
Achieved over 70% success rate in dynamic perching tests.
Validated the effectiveness of the trajectory planner in real-time scenarios.
Demonstrated increased robustness and adaptability of the gripper to attitude errors.
Abstract
Perching on {the surface} of moving objects, like vehicles, could extend the flight {time} and range of quadrotors. Suction cups are usually adopted for {surface attachment} due to their durability and large adhesive force. To seal on {a surfaces}, suction cups {must} be aligned with {the surface} and {possess proper relative tangential velocity}. {However, quadrotors' attitude and relative velocity errors would become significant when the object surface is moving and inclined. To address this problem, we proposed a real-time trajectory planning algorithm. The time-optimal aggressive trajectory is efficiently generated through multimodal search in a dynamic time-domain. The velocity errors relative to the moving surface are alleviated.} To further adapt to the residual errors, we design a compliant gripper using self-sealing cups. Multiple cups in different directions are integrated…
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Taxonomy
TopicsRobotic Path Planning Algorithms · Control and Dynamics of Mobile Robots · Robotics and Sensor-Based Localization
