Periodic Reporting for period 4 - GRIFFIN (General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety)
Reporting period: 2023-05-01 to 2024-04-30
GRIFFIN developed a new generation of bioinspired flapping-wing aerial robots with flying, perching and manipulation capabilities that can physically interact with people and objects due to the absence of propellers, their lightweight and the soft material used. The GRIFFIN flapping-wing systems with gliding capabilities decrease energy consumption when compared to multi-rotors and fixed-wing systems. In the last period, we have developed and validated new dynamic and aerodynamic models, including simplified models, that can be used in real time. We also developed control methods that were applied to perform lateral manoeuvres, including circular manoeuvres, and we have implemented hybrid flapping-gliding autonomous flights that can save energy.
In the last period, we also improved the reliability of the perching manoeuvres and developed new bioinspired claws. Additionally, we developed an SMA-actuated hip joint and its controller.
In GRIFFIN we have demonstrated, indoors and outdoors, for the first time, fully autonomous ornithopters with onboard environment perception, control and decision capabilities. The event cameras provide images that are processed onboard to build maps, estimate the position, detect perching sites and perform perching manoeuvres on a branch. The GRIFFIN prototypes also have the capabilities of autonomous obstacle detection and avoidance of mobile obstacles, even with poor illumination conditions. In the last period, we also demonstrated event camera outdoor autonomous detection of visual markers and persons.
The work in the last period also included body control after perching and the extension of the workspace for manipulation. Moreover, we developed a new robotic head with an integrated dual manipulator into the beak and performed manipulation experiments, including coordinated manipulation with two birds.
In previous periods we demonstrated the interest of GRIFFIN prototypes in tasks such as delivery of small parcels and contact inspection in sites difficult to reach. In the last period, we worked on applications for surveillance and environmental protection, including taking samples of air quality and noise. We also demonstrated collecting samples of branches and leaves.
The results of GRIFFIN have generated 75 publications. GRIFFIN prototypes have been successfully demonstrated to different scientific and technology audiences and the media. In the last period, we organised several events and performed public demonstrations. More information on the project, including disseminationcan be found on the website https://griffin-erc-advanced-grant.eu/
In the last period, we also improved the reliability of the perching manoeuvres and developed new bioinspired claws. Additionally, we developed an SMA-actuated hip joint and its controller.
In GRIFFIN we have demonstrated, indoors and outdoors, for the first time, fully autonomous ornithopters with onboard environment perception, control and decision capabilities. The event cameras provide images that are processed onboard to build maps, estimate the position, detect perching sites and perform perching manoeuvres on a branch. The GRIFFIN prototypes also have the capabilities of autonomous obstacle detection and avoidance of mobile obstacles, even with poor illumination conditions. In the last period, we also demonstrated event camera outdoor autonomous detection of visual markers and persons.
The work in the last period also included body control after perching and the extension of the workspace for manipulation. Moreover, we developed a new robotic head with an integrated dual manipulator into the beak and performed manipulation experiments, including coordinated manipulation with two birds.
In previous periods we demonstrated the interest of GRIFFIN prototypes in tasks such as delivery of small parcels and contact inspection in sites difficult to reach. In the last period, we worked on applications for surveillance and environmental protection, including taking samples of air quality and noise. We also demonstrated collecting samples of branches and leaves.
The results of GRIFFIN have generated 75 publications. GRIFFIN prototypes have been successfully demonstrated to different scientific and technology audiences and the media. In the last period, we organised several events and performed public demonstrations. More information on the project, including disseminationcan be found on the website https://griffin-erc-advanced-grant.eu/
GRIFFIN has developed a new generation of bioinspired flapping-wing aerial robots with flying, perching and manipulation capabilities that can physically interact with people and objects in the environment due to the absence of propellers, their lightweight and the soft material used in their bodies.
The GRIFFIN flapping-wing systems with gliding capabilities decrease energy consumption when compared to multi-rotors and fixed-wing. In the last period of GRIFFIN, we have analysed the energy consumption of all elements from the sensors and electronics to the mechanical parts. We have also developed new dynamic and aerodynamic models including simplified models that can be used in real time. These models have been validated with real flights in different conditions. We also developed control methods that were applied to perform lateral manoeuvres including circular manoeuvres. Moreover, we have implemented hybrid flapping-gliding autonomous flights that can save energy.
In the last period, we also improved the reliability of the perching manoeuvres and developed new bioinspired claws that were finally integrated into the ornithopter. Additionally, we developed an SMA-actuated hip joint and its controller.
In GRIFFIN we have demonstrated, indoors and outdoors, for the first time, fully autonomous ornithopters with onboard environment perception, control and decision capabilities. The event cameras provide images that are processed onboard to build maps of the environment, estimate the position, detect perching sites and perform perching manoeuvres, on a branch or a pole, fully autonomously. The GRIFFIN prototypes also have the capabilities of autonomous obstacle detection and avoidance of mobile obstacles, even with poor illumination conditions. In the last period, we also demonstrated event camera outdoor autonomous detection of visual markers and persons.
The work in the last period also included body control after perching and the extension of the workspace for manipulation. Moreover, we developed a new robotic head with an integrated dual manipulator into the beak and performed manipulation experiments, including coordinated manipulation with two birds.
In previous periods we demonstrated the interest of GRIFFIN prototypes in tasks such as delivery of small parcels and contact inspection in sites difficult to reach. In the last period, we worked on applications for surveillance and environmental protection, including taking samples of air quality and noise. We also demonstrated applications involving perching and manipulation, such as collecting samples of branches and leaves to be analysed. The results of GRIFFIN have generated 75 scientific publications. Moreover, the GRIFFIN prototypes have been successfully demonstrated to different scientific and technology audiences and the media. In the last period, we organised several events and performed several public demonstrations that have contributed to the dissemination.
More information on the project, including dissemination (publications, project presentations, media content, and news) can be found on the website https://griffin-erc-advanced-grant.eu/
The GRIFFIN flapping-wing systems with gliding capabilities decrease energy consumption when compared to multi-rotors and fixed-wing. In the last period of GRIFFIN, we have analysed the energy consumption of all elements from the sensors and electronics to the mechanical parts. We have also developed new dynamic and aerodynamic models including simplified models that can be used in real time. These models have been validated with real flights in different conditions. We also developed control methods that were applied to perform lateral manoeuvres including circular manoeuvres. Moreover, we have implemented hybrid flapping-gliding autonomous flights that can save energy.
In the last period, we also improved the reliability of the perching manoeuvres and developed new bioinspired claws that were finally integrated into the ornithopter. Additionally, we developed an SMA-actuated hip joint and its controller.
In GRIFFIN we have demonstrated, indoors and outdoors, for the first time, fully autonomous ornithopters with onboard environment perception, control and decision capabilities. The event cameras provide images that are processed onboard to build maps of the environment, estimate the position, detect perching sites and perform perching manoeuvres, on a branch or a pole, fully autonomously. The GRIFFIN prototypes also have the capabilities of autonomous obstacle detection and avoidance of mobile obstacles, even with poor illumination conditions. In the last period, we also demonstrated event camera outdoor autonomous detection of visual markers and persons.
The work in the last period also included body control after perching and the extension of the workspace for manipulation. Moreover, we developed a new robotic head with an integrated dual manipulator into the beak and performed manipulation experiments, including coordinated manipulation with two birds.
In previous periods we demonstrated the interest of GRIFFIN prototypes in tasks such as delivery of small parcels and contact inspection in sites difficult to reach. In the last period, we worked on applications for surveillance and environmental protection, including taking samples of air quality and noise. We also demonstrated applications involving perching and manipulation, such as collecting samples of branches and leaves to be analysed. The results of GRIFFIN have generated 75 scientific publications. Moreover, the GRIFFIN prototypes have been successfully demonstrated to different scientific and technology audiences and the media. In the last period, we organised several events and performed several public demonstrations that have contributed to the dissemination.
More information on the project, including dissemination (publications, project presentations, media content, and news) can be found on the website https://griffin-erc-advanced-grant.eu/
GRIFFIN researched on the development of a new generation of autonomous bioinspired aerial robots capable of physically interacting with their environment.
We have developed new ornithopters that combine flapping with gliding to save energy. New modelling and control methods are being developed and tested for these ornithopters. We also developed autonomous perception techniques. In particular, vision systems based on event cameras have been developed. These techniques allow the implementation of smart behaviours, including fully autonomous perching.
In parallel, we are developing manipulation capabilities that will be performed while perching and maintaining balance. We have developed a new control technique for flapping aerial robots being aware of the hard constraints imposed by aerial robots while perched.
Furthermore, we have developed tools to be used in the development of new ornithopters. These include Computational Fluid Dynamics (CFD) for aerodynamic design and simulation tools for flying and landing.
All of the above methods and technologies have been demonstrated by prototypes. We developed new bio-inspired parts and actuators. In particular, the technologies for tail and claw morphing have already been developed and tested. Also, embedded control systems have been developed and tested.
Significant efforts have been devoted to integrating methods and technologies into new systems and prototypes. In particular, GRIFFIN prototypes have been developed integrating manipulation capabilities in the ornithopter.
We have developed new ornithopters that combine flapping with gliding to save energy. New modelling and control methods are being developed and tested for these ornithopters. We also developed autonomous perception techniques. In particular, vision systems based on event cameras have been developed. These techniques allow the implementation of smart behaviours, including fully autonomous perching.
In parallel, we are developing manipulation capabilities that will be performed while perching and maintaining balance. We have developed a new control technique for flapping aerial robots being aware of the hard constraints imposed by aerial robots while perched.
Furthermore, we have developed tools to be used in the development of new ornithopters. These include Computational Fluid Dynamics (CFD) for aerodynamic design and simulation tools for flying and landing.
All of the above methods and technologies have been demonstrated by prototypes. We developed new bio-inspired parts and actuators. In particular, the technologies for tail and claw morphing have already been developed and tested. Also, embedded control systems have been developed and tested.
Significant efforts have been devoted to integrating methods and technologies into new systems and prototypes. In particular, GRIFFIN prototypes have been developed integrating manipulation capabilities in the ornithopter.