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Posted on: May 29, 2017
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Current drones are developed with a fixed morphology that can limit their versatility and mission capabilities. There is biological evidence that adaptive morphological changes can not only extend dynamic performances, but also provide new functionalities. In this paper, we present different drones from our recent developments where folding is used as a mean of morphological adaptation. First, we show how foldable wings can enable the transition between aerial and ground locomotion or to fly in different aerodynamic conditions, advancing the development of multi-modal drones with an extended mission envelope. Secondly, we show how foldable structures allow to transport drones easily without sacrificing payload or flight endurance. Thirdly, we present a foldable frame that makes drones to withstand collisions. However, the real potential of foldable drones is often limited by the use of conventional design strategies and rigid materials, which motivates to use smart, functional materials. Lastly, we describe a dielectric elastomer based foldable actuator, and a variable stiffness fiber using low melting point alloy for drones. The foldable actuator acts as an active compliant joint with folding functionality and mechanical robustness in drones, thanks to the compliance of dielectric elastomer, a class of smart materials. We also show re-configuration of a drone enabled by the variable stiffness fiber that can transition between rigid and soft states.
Posted on: May 16, 2017
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Posted on: April 26, 2017
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This paper proposes a new robotic platform based on origami robots and reconfigurable modular robots. The concept combines the advantages of both robot types into a mobile, quasi-two-dimensional, lattice-type reconfigurable modular origami robot, Mori. A detailed description and analysis of the concept is validated by the presentation of a first prototype that incorporates the key functionalities of the proposed system. The modular robot prototype is mobile, can be connected to other modules of its kind, and fold up to create task-specific three-dimensional reconfigurable structures. Three implementations using the prototype in different configurations are presented in form of individual modules, modular reconfigurable surfaces, and applied to closed-loop object manipulation. The experiments highlight the capabilities and advantages of the system with respect to modularity, origami-folding, mobility, and versatility.
Posted on: April 20, 2017
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Brain-machine interfaces (BMIs) enable humans to interact with devices by modulating their brain signals. Despite impressive technological advancements, several obstacles remain. The most commonly used BMI control signals are derived from the brain areas involved in primary sensory- or motor-related processing. However, these signals only reflect a limited range of human intentions. Therefore, additional sources of brain activity for controlling BMIs need to be explored. In particular, higher-order cognitive brain signals, specifically those encoding goal-directed intentions are natural candidates for enlarging the repertoire of BMI control signals and making them more efficient and intuitive. Thus, this paper identifies the prefrontal brain area as a key target region for future BMIs, given its involvement in higher-order, goal-oriented cognitive processes.
Posted on: March 27, 2017
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Posted on: March 27, 2017
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Posted on: March 6, 2017
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To escape danger or catch prey, running vertebrates rely on dynamic gaits with minimal ground contact. By contrast, most insects use a tripod gait that maintains at least three legs on the ground at any given time. One prevailing hypothesis for this difference in fast locomotor strategies is that tripod locomotion allows insects to rapidly navigate three-dimensional terrain. To test this, we computationally discovered fast locomotor gaits for a model based on Drosophila melanogaster. Indeed, the tripod gait emerges to the exclusion of many other possible gaits when optimizing fast upward climbing with leg adhesion. By contrast, novel two-legged bipod gaits are fastest on flat terrain without adhesion in the model and in a hexapod robot. Intriguingly, when adhesive leg structures in real Drosophila are covered, animals exhibit atypical bipod-like leg coordination. We propose that the requirement to climb vertical terrain may drive the prevalence of the tripod gait over faster alternative gaits with minimal ground contact.
Posted on: February 18, 2017
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The ease of use and versatility of drones has contributed to their deployment in several fields, from entertainment to search and rescue. However, drones remain vulnerable to collisions due to pilot mistakes or various system failures. This paper presents a bioinspired strategy for the design of quadcopters resilient to collisions. Abstracting the biomechanical strategy of collision resilient insects’ wings, the quadcopter has a dual-stiffness frame that rigidly withstands aerodynamic loads within the flight envelope, but can soften and fold during a collision to avoid damage. The dual-stiffness frame works in synergy with specific energy absorbing materials that protect the sensitive components of the drone hosted in the central case. The proposed approach is compared to other state-of- the art collision-tolerance strategies and is validated in a 50g quadcopter that can withstand high speed collisions.
Posted on: February 18, 2017
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Posted on: February 17, 2017
