Conference paper Open Access

Winged Aerial Robot: Modular Design Approach

Diez de los Rios, Ivan; Suarez, Alejandro; Sanchez-Laulhe, Ernesto; Armengol, Inmaculada; Ollero, Anibal


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  <identifier identifierType="URL">https://zenodo.org/record/5717085</identifier>
  <creators>
    <creator>
      <creatorName>Diez de los Rios, Ivan</creatorName>
      <givenName>Ivan</givenName>
      <familyName>Diez de los Rios</familyName>
      <affiliation>GRVC Robotics Lab - University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Suarez, Alejandro</creatorName>
      <givenName>Alejandro</givenName>
      <familyName>Suarez</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-4549-6957</nameIdentifier>
      <affiliation>GRVC Robotics Lab - University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Sanchez-Laulhe, Ernesto</creatorName>
      <givenName>Ernesto</givenName>
      <familyName>Sanchez-Laulhe</familyName>
      <affiliation>GRVC Robotics Lab - University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Armengol, Inmaculada</creatorName>
      <givenName>Inmaculada</givenName>
      <familyName>Armengol</familyName>
      <affiliation>GRVC Robotics Lab - University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>Ollero, Anibal</creatorName>
      <givenName>Anibal</givenName>
      <familyName>Ollero</familyName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2155-2472</nameIdentifier>
      <affiliation>GRVC Robotics Lab - University of Seville</affiliation>
    </creator>
  </creators>
  <titles>
    <title>Winged Aerial Robot: Modular Design Approach</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2021</publicationYear>
  <subjects>
    <subject>Winged Aerial Robots</subject>
    <subject>Flapping-Wing</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2021-11-16</date>
  </dates>
  <language>en</language>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/5717085</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsIdenticalTo">10.1109/SSRR53300.2021.9597868</relatedIdentifier>
  </relatedIdentifiers>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;This paper presents the design, modelling, control, and experimental validation of a novel flapping wing aerial robot built with servo actuators that could be applied in search, rescue, and assistance to injured people. The proposed concept design is intended to facilitate the construction of this kind of aerial robots following a modular and reconfigurable approach, consisting of a series of Servo-Flapping Engine (SFE) modules attached to the carbon fibre tube used as fuselage, and a tail servo, covering the structure with a light nylon cloth. The SFE modules are built with a pair of servos that rotate the wing rods with desired amplitude, frequency, and relative phase. Combining two SFE modules, it is possible to generate different flapping patterns and control the orientation of the aerodynamic surfaces. The paper covers the parametrization of the design, the hardware/software implementation, as well as the modelling and control. The proposed design is validated through gliding and flapping tests in an outdoor environment.&lt;/p&gt;</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/871479/">871479</awardNumber>
      <awardTitle>AERIAL COgnitive integrated multi-task Robotic system with Extended operation range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
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