Repeatable energy-efficient perching for flapping-wing robots using soft-grippers

With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current designs already achieve high manoeuvrability, they still almost entirely lack perching and take-off capabilities. These capabilities would enable long-term monitoring and surveillance operations, and more complex and multifaceted missions in cluttered environments. We present the development and testing of a framework that enables repeatable perching and take-off for small- to medium-sized FWMAVs, utilising soft, non-damaging grippers. Thanks to its novel active-passive actuation system, an energy-conserving state can be achieved and indefinitely maintained while the vehicle is perched. This actuation system is inspired by the digital tendon locking mechanism observed in perching birds and allows for high gripping power and minimal energy usage with a low weight penalty. A prototype of the proposed system weighing under 39 g was manufactured and extensively tested on a 110 g flapping-wing robot. Successful free-flight tests demonstrated the full mission cycle of landing, perching and subsequent take-off. The telemetry data recorded during the flights yields extensive insight into the system's behaviour and is a valuable step towards full automation and optimisation of the entire take-off and landing cycle.