The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp
The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads – and the mechanisms used to manipula...
| Main Authors: | , , , , , , , , , |
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2016
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| Online Access: | http://hdl.handle.net/1721.1/103070 https://orcid.org/0000-0002-3094-1587 https://orcid.org/0000-0001-5473-3566 |
| _version_ | 1826205312842989568 |
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| author | Mulgaonkar, Yash Araki, Brandon Koh, Je-sung Guerrero-Bonilla, Luis Aukes, Daniel M. Makineni, Anurag Tolley, Michael T. Rus, Daniela L. Wood, Robert J. Kumar, Vijay |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Mulgaonkar, Yash Araki, Brandon Koh, Je-sung Guerrero-Bonilla, Luis Aukes, Daniel M. Makineni, Anurag Tolley, Michael T. Rus, Daniela L. Wood, Robert J. Kumar, Vijay |
| author_sort | Mulgaonkar, Yash |
| collection | MIT |
| description | The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads – and the mechanisms used to manipulate them – reduces this flight time even further. In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world’s smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30 g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial roots. |
| first_indexed | 2024-09-23T13:11:02Z |
| format | Article |
| id | mit-1721.1/103070 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:11:02Z |
| publishDate | 2016 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1030702022-10-01T13:36:35Z The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp Mulgaonkar, Yash Araki, Brandon Koh, Je-sung Guerrero-Bonilla, Luis Aukes, Daniel M. Makineni, Anurag Tolley, Michael T. Rus, Daniela L. Wood, Robert J. Kumar, Vijay Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Rus, Daniela L. Araki, Brandon Rus, Daniela L. The agility and ease of control make a quadrotor aircraft an attractive platform for studying swarm behavior, modeling, and control. The energetics of sustained flight for small aircraft, however, limit typical applications to only a few minutes. Adding payloads – and the mechanisms used to manipulate them – reduces this flight time even further. In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world’s smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30 g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial roots. National Science Foundation (U.S.) (IIS-1138847) National Science Foundation (U.S.) (EFRI-124038) National Science Foundation (U.S.) (CCF-1138967) United States. Army Research Laboratory (W911NF-08-2-0004) Wyss Institute for Biologically Inspired Engineering 2016-06-09T13:13:29Z 2016-06-09T13:13:29Z 2016-05 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/103070 Mulgaonkar, Yash, Brandon Araki, Je-sung Koh, Luis Guerrero-Bonilla, Daniel M. Aukes, Anurag Makineni, Michael T. Tolley, Daniela L. Rus, Robert J. Wood, and Vijay Kumar. "The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp." 2016 IEEE International Conference on Robotics and Automation (May 2016). https://orcid.org/0000-0002-3094-1587 https://orcid.org/0000-0001-5473-3566 en_US https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_4.html#thbat3_02 Proceedings of the 2016 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Araki |
| spellingShingle | Mulgaonkar, Yash Araki, Brandon Koh, Je-sung Guerrero-Bonilla, Luis Aukes, Daniel M. Makineni, Anurag Tolley, Michael T. Rus, Daniela L. Wood, Robert J. Kumar, Vijay The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title | The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title_full | The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title_fullStr | The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title_full_unstemmed | The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title_short | The Flying Monkey: a Mesoscale Robot that can Run, Fly, and Grasp |
| title_sort | flying monkey a mesoscale robot that can run fly and grasp |
| url | http://hdl.handle.net/1721.1/103070 https://orcid.org/0000-0002-3094-1587 https://orcid.org/0000-0001-5473-3566 |
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