期刊论文详细信息
Frontiers in Robotics and AI
On Aerial Robots with Grasping and Perching Capabilities: A Comprehensive Review
Yuanchang Liu1  Jiawei Meng1  Joao Buzzatto2  Minas Liarokapis2 
[1] Department of Mechanical Engineering, University College London, London, United Kingdom;New Dexterity Research Group, Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland, New Zealand;
关键词: unmanned aerial vehicles;    aerial robots;    grasping;    perching;    robotic gripping mechanisms;   
DOI  :  10.3389/frobt.2021.739173
来源: DOAJ
【 摘 要 】

Over the last decade, there has been an increased interest in developing aerial robotic platforms that exhibit grasping and perching capabilities not only within the research community but also in companies across different industry sectors. Aerial robots range from standard multicopter vehicles/drones, to autonomous helicopters, and fixed-wing or hybrid devices. Such devices rely on a range of different solutions for achieving grasping and perching. These solutions can be classified as: 1) simple gripper systems, 2) arm-gripper systems, 3) tethered gripping mechanisms, 4) reconfigurable robot frames, 5) adhesion solutions, and 6) embedment solutions. Grasping and perching are two crucial capabilities that allow aerial robots to interact with the environment and execute a plethora of complex tasks, facilitating new applications that range from autonomous package delivery and search and rescue to autonomous inspection of dangerous or remote environments. In this review paper, we present the state-of-the-art in aerial grasping and perching mechanisms and we provide a comprehensive comparison of their characteristics. Furthermore, we analyze these mechanisms by comparing the advantages and disadvantages of the proposed technologies and we summarize the significant achievements in these two research topics. Finally, we conclude the review by suggesting a series of potential future research directions that we believe that are promising.

【 授权许可】

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