SCoReR: sensorized collision resilient aerial robot

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buir.contributor.authorBakır, Alihan
buir.contributor.authorÖzbek, Doğa
buir.contributor.authorAbazari, Amirali
buir.contributor.authorÖzcan, Onur
buir.contributor.orcidBakır, Alihan|0000-0002-2660-6698
buir.contributor.orcidÖzbek, Doğa|0000-0002-8918-0655
buir.contributor.orcidÖzcan, Onur|0000-0002-3190-6433
dc.citation.epage7en_US
dc.citation.spage1
dc.contributor.authorBakır, Alihan
dc.contributor.authorÖzbek, Doğa
dc.contributor.authorAbazari, Amirali
dc.contributor.authorÖzcan, Onur
dc.coverage.spatialSingapore
dc.date.accessioned2024-03-21T08:07:21Z
dc.date.available2024-03-21T08:07:21Z
dc.date.issued2023-05-15
dc.departmentDepartment of Mechanical Engineering
dc.descriptionDate of Conference: 3-7 April 2023
dc.descriptionConference Name: 2023 IEEE International Conference on Soft Robotics (RoboSoft)
dc.description.abstractDetection and control of the physical contact/impact between micro aerial vehicles and the surrounding obstacles have become a significant issue with the rapid growth of their use in inspection and mapping missions in confined, obstacle-cluttered environments. In this work, we introduce a collision-resilient compliant micro quadcopter equipped with soft coil-spring type force sensors to passively resist and detect the physical contact/impact of the drone. The sensors act as resistive elements with a nominal resistance of 130–150 kΩ. They are manufactured from a conductive material via FDM 3D printing. We install these sensors on the protective bumpers of the collision-resilient foldable body of the drone. Any contact/impact between the bumpers and an obstacle results in deformation and buckling of the soft sensors, which results in a drastic change in their resistance, making it possible to detect the contacts/impacts of the bumpers. With a total weight of 220g and dimensions of 22cmx22cmx9cm, SCoReR successfully detects and recovers 100% of the contacts/impacts when it approaches a rigid wall with a velocity in the range of [0.1-1] m/s.
dc.identifier.doi10.1109/RoboSoft55895.2023.10121952
dc.identifier.eisbn9798350332223
dc.identifier.eissn2769-4534
dc.identifier.isbn9798350332230
dc.identifier.issn2769-4526
dc.identifier.urihttps://hdl.handle.net/11693/115042
dc.language.isoEnglish
dc.publisherIEEE - Institute of Electrical and Electronics Engineers
dc.relation.isversionofhttps://dx.doi.org/10.1109/RoboSoft55895.2023.10121952
dc.source.title2023 IEEE International Conference on Soft Robotics (RoboSoft 2023)
dc.subjectSoft sensors and actuators
dc.subjectSoft robot materials and design
dc.subjectSoft robot applications
dc.subjectFoldable robots
dc.subjectAerial robots
dc.titleSCoReR: sensorized collision resilient aerial robot
dc.typeConference Paper
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