0
Morpho-functional Drones
Dario FloreanoEPFL, Switzerland
vehicle mass (g)100 101 102 103
flight
tim
e (m
in)
10-1
100
101
102
12
3
456
7
8
9
10
11
1213 14
15
16 17
1819
20
21
22
2324
2526
27281 Nanohummingbird2 Delfly explorer3 Delfly micro4 H2Bird5 Caltech Microbat6 Bionic Bird7 Avitron V2.08 36cm Ornithopter9 28cm Ornithopter10 15cm Ornithopter11 10cm Ornithopter12 Parot bebop drone13 PD-100 Black Hornet PRS14 DJI Phantom 215 Seiko-Epson uFR-II16 Walkera Ladybug V217 Mini X618 350QX219 AR Drone 220 QR Y10021 QR W100S
22 Sensefly eBee23 Black Widow24 Wasp III25 U. Florida MAV26 H301S27 Diamond 600 EP28 EPFL MC2
Flapping-wingRotorcraftFixed-wing
Floreano & Wood, Nature, 2015
4
Costal break
Flexionline
Dual stiffness wing [2]Sturdy yet flexible exoskeleton [1]
[2] A. M. Mountcastle and S. a Combes, “Biomechanical strategies for mitigating collision damage in insect wings: structural design versus embedded elastic materials,” J. Exp. Biol., vol. 217, no. December, pp. 1108–1115, 2014.
[1] K. Jayaram and R. J. Full, “Cockroaches traverse crevices, crawl rapidly in confined spaces, and inspire a soft, legged robot,” Proc. Natl. Acad. Sci. , vol. 113, no. 8, pp. E950–E957, Feb. 2016.
How do insects cope with collisions?
Mintchev, de Rivaz, Floreano, IEEE Robotics & Automation Letters, 2017 Stefano
Mintchev
The Size Problem
Foldable Wings
Saito et al., PNAS, 2014
1-2.5% of total weight20-200 ms deployment time
Collision and crash resilientHigh surface reduction(folding ratio up to 10)
Mintchev, Daler, L’Eplattanier, Saint_Raymond, Floreano, ICRA, 2015 Stefano
MintchevLudovicDaler
Mintchev and Floreano, Proceedings of IEEE SSRR, 2016
StefanoMintchev
Mintchev, Shintake, & Floreano (2018) Science Robotics
Bio-inspired Origami
StefanoMintchev
JunShintake
Mintchev, Shintake, & Floreano (2018) Science Robotics
• Folding ratio of 4• 1 Degree-of-Freedom mechanism
[1] F. Haas and R. J. Wootton, “Two Basic Mechanisms in Insect Wing Folding,” Proc. R. Soc. B Biol. Sci., 1996
[2] F. Haas et al., “The function of resilin in beetle wings”, Proc. R. Soc. B Biol. Sci., 2000
[1]
Tip crease pattern
ϕ
[2]Root crease pattern
Crease Patterns in Coleopterans Wings
Surface folding ratio 3.8Wingspan folding ratio 2.2 Stefano
Mintchev
Folding & Wrapping Drone Kornatowski, Mintchev, Heitz, Floreano, IROS 2017
StefanoMintchev
PrzemekKornatowski
GregoireHeitz
>150 drone deliveries EPFL campus, Aug. 2017
Kornatowski, Bhaskaran, Heitz, Mintchev, Floreano, IEEE Robotics and Automation Letters, 2018
Forceful Manipulation
Atlas robot, Boston Dynamics Cicada killer wasp
Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018
Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018
MattEstrada
StefanoMintchev
MarkCutkosky
DavidChristensen
Estrada, Mintchev, Christensen, Cutkosky, Floreano Science Robotics, 2018
A morphological change that minimizes cost of transportation in different conditions of locomotion
Source: Tennekes (1996), The simple Science of Flight, MIT Press
PIGEON FALCON
Feathered Morphing Drone Di Luca, Mintchev, Heitz, Noca, Floreano Interface Focus, 2017
StefanoMintchev
FlavioNoca
MatteoDi Luca
GregoireHeitz
Ground capabilities• Forward speed 0.2m/s (0.7BL/s)
• Rotation speed 25 /s
Air capabilities• Cruise speed 14m/s• Autonomy 30min.
Daler, Lecoeur, Hählen, Floreano, IROS Proceedings, 2013 Ludovic
DalerJulien
Lecoeur
Advanced M
aterials, Vol. 28, 2016, No. 46, pages 10105–10342
w
ww
.advmat.de
Vol. 28 • No. 46 • December 14 • 2016
www.advmat.de
ADMA_28_46_cover.indd 1 14/11/16 8:14 PM
Tonazzini, Mintchev, Schubert, Shintake, Mazzolai, Floreano
Advanced Materials, 2016
StefanoMintchev
AliceTonazzini
JunShintake
BarbaraMazzolai
BryanSchubert
Reconfigurable Drone
Tonazzini, Mintchev, Schubert, Shintake, Mazzolai, FloreanoAdvanced Materials, 2016