Conference paper Open Access

Towards flapping wing robot visual perception: Opportunities and challenges

A. Gómez Eguíluz; J. P. Rodríguez-Gómez; J. L. Paneque; P. Grau; J. R. Martínez-de Dios; A. Ollero


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    "language": "eng", 
    "title": "Towards flapping wing robot visual perception: Opportunities and challenges", 
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        "title": "General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety", 
        "acronym": "GRIFFIN", 
        "program": "H2020", 
        "funder": {
          "doi": "10.13039/501100000780", 
          "acronyms": [], 
          "name": "European Commission", 
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    "keywords": [
      "Robotic perception", 
      "Flapping wings", 
      "Or\u00adnithopter", 
      "Event\u00ad-based vision", 
      "Bio\u00ad-inspired robots"
    ], 
    "publication_date": "2019-11-25", 
    "creators": [
      {
        "orcid": "0000-0002-2285-2605", 
        "affiliation": "University of Seville", 
        "name": "A. G\u00f3mez Egu\u00edluz"
      }, 
      {
        "orcid": "0000-0001-7628-1660", 
        "affiliation": "University of Seville", 
        "name": "J. P. Rodr\u00edguez-G\u00f3mez"
      }, 
      {
        "orcid": "0000-0001-6998-7614", 
        "affiliation": "University of Seville", 
        "name": "J. L. Paneque"
      }, 
      {
        "orcid": "0000-0002-2487-6301", 
        "affiliation": "University of Seville", 
        "name": "P. Grau"
      }, 
      {
        "orcid": "0000-0001-9431-7831", 
        "affiliation": "University of Seville", 
        "name": "J. R. Mart\u00ednez-de Dios"
      }, 
      {
        "orcid": "0000-0003-2155-2472", 
        "affiliation": "University of Seville", 
        "name": "A. Ollero"
      }
    ], 
    "meeting": {
      "acronym": "RED UAS", 
      "dates": "25-27 Nov. 2019", 
      "place": "Cranfield, United Kingdom", 
      "title": "2019 Workshop on Research, Education and Development of Unmanned Aerial Systems"
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    "access_right": "open", 
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    "description": "<p>The development of perception systems for bio&shy;inspired flapping wing robots, or ornithopters, is very challenging due to their fast flying maneuvers and the high amount of vibrations and motion blur originated by the wing flapping. Visual sensors have been widely used in aerial robot perception due to their size, weight, and energy consumption capabilities. This paper analyzes the issues and challenges for vision sensors onboard ornithopter robots. Two visual sensors are evaluated: a monocular camera and an event&shy;based camera. First, the pros and cons of integrating different sensors on flapping wing robots are studied. Second, the paper experimentally evaluates the impact of wing flapping frequency on both sensors using experiments with the ornithopter developed in the EU&shy;funded GRIFFIN ERC project.</p>"
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